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Alle anderen genannten Produkte, Namen und Logos dienen ausschließlich Informationszwecken und können Warenzeichen ihrer jeweiligen Eigentümer sein, ohne dass eine besondere Kennzeichnung erfolgt. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 2 of 127...
5.2.1 Anzeigezustände und Blinkfrequenz ..............27 5.2.2 Link / Data Activity LED, IN/OUT ................28 5.2.3 Net Run LED ......................28 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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9.3.1 Emergency Error Codes ..................62 9.3.2 Error Register ......................62 9.4 Sonstige Störungen ........................ 63 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 127 TR - ELA - BA - DGB - 0005 - 11...
10.07.2018 Kapitel 8.2 Objekt 2001h: Interpolation um Beispiel ergänzt 09.04.2020 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 5 of 127...
Es gelten somit zusammen folgende Dokumentationen: siehe Kapitel „Mitgeltende Dokumente“ in der Montageanleitung www.tr-electronic.de/f/TR-ELA-BA-DGB-0004 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 127 TR - ELA - BA - DGB - 0005 - 11...
IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Zugriff auf die Objekt-Datenliste eines Gerätes. Extensible Markup Language, Beschreibungsdatei für die Inbetriebnahme des Mess-Systems. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 127 TR - ELA - BA - DGB - 0005 - 11...
Beachten der Montageanleitung, insbesondere das dort enthaltene Kapitel "Grundlegende Sicherheitshinweise" muss vor Arbeitsbeginn gelesen und verstanden worden sein TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Ringstruktur. Slave Slave Slave Master Ethernet Abbildung 1: EtherCAT-Funktionsprinzip TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Informationen zu einem lokalen Zeitpunkt der Datenerfassung liefern. Durch das System hängt die Genauigkeit einer Geschwindigkeitsberechnung nicht mehr vom Jitter des Kommunikationssystems ab. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Protokoll, und damit das vom CANopen her bekannte „Device Profile for Encoder“, CiA DS-406. Abbildung 3: CANopen over EtherCAT Kommunikationsmechanismus TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 127 TR - ELA - BA - DGB - 0005 - 11...
Abbildung 5: EtherCAT eingeordnet im ISO/OSI-Schichtenmodell EN 50325-4: Industrielle-Kommunikations-Systeme, basierend auf ISO 11898 (CAN) für Controller-Device Interfaces. Teil 4: CANopen. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Wichtige Merkmale von SDO und PDO Abbildung 7: Gegenüberstellung von PDO/SDO-Eigenschaften TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 127 TR - ELA - BA - DGB - 0005 - 11...
„Download SDO Segment” Request / „Upload SDO Segment” Response kann mehr als 7 Byte Daten beinhalten Download und Upload aller Sub-Indices auf einmal TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Über diese Dienste können jeweils bis zu vier Byte geschrieben, bzw. bis zu vier Byte gelesen werden. Für die meisten Objekte ist dies ausreichend. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 127...
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übertragen, welche nicht mit der Initiate SDO Upload Dienstantwort übertragen werden konnten. Der Server startet so viele Upload SDO Segment Dienste, bis alle Daten vom Server übertragen worden sind. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
2 Byte schreiben SDO Request 0x2F 1 Byte schreiben SDO Request TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Im Fall eines Fehlers (SDO-Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt, siehe Kapitel SDO Abort Codes, Seite 60. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
Aus dem obigen Protokoll lässt sich folgendes SDO-Lesetelegramm ableiten: Bedeutung Gültig für 0x40 Leseanforderung SDO Request TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Im Fall eines Fehlers (SDO-Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt, siehe Kapitel SDO Abort Codes, Seite 60. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 127 TR - ELA - BA - DGB - 0005 - 11...
+ 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 23 of 127...
Normen und Richtlinien zu beachten! Insbesondere sind die EMV-Richtlinie sowie die Schirmungs- und Erdungsrichtlinien in den jeweils gültigen Fassungen zu beachten! TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 127...
15 21 26 1 Harting 21 03 281 1405 HARAX M12-L TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 25 of 127...
Werte ausgibt. Dies gilt für die Zustände SAFE-OPERATIONAL und OPERATIONAL. In der Regel werden die Mailbox-Zugriffe über SDO-Anforderungen ausgelöst. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 127 TR - ELA - BA - DGB - 0005 - 11...
Dreimaliges kurzes Aufblinken, 200 ms AN/AUS, Triple flash gefolgt von einer langen AUS-Zeit, 1000 ms. Tabelle 5: LED Anzeigezustände TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Gerät befindet sich im SAFE-OPERATIONAL Zustand Single Flash Gerät befindet sich im OPERATIONAL Zustand TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 127 TR - ELA - BA - DGB - 0005 - 11...
EtherCAT-Master den Betriebsmodus „Free Run“ zur Verfügung. In diesem Betriebsmodus gibt das Mess-System keine plausiblen Geschwindigkeits- und Beschleunigungswerte aus. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Sync Manager 3 1C33 ARRAY Unsigned16 Parameter (Input) Tabelle 6: Kommunikationsspezifische Standard-Objekte TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
PDO Mapping nein " ", abhängig von der Geräteausführung Wert TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 31 of 127...
PDO Mapping nein Wert "Vxxx", abhängig von der aktuellen Version TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Datentyp UNSIGNED32 Kategorie Mandatory Zugriff PDO Mapping nein Wert 1289 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 33 of 127...
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Serial Number Datentyp UNSIGNED32 Kategorie Mandatory Zugriff nein PDO Mapping Wert TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 3000 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 6030 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 127 TR - ELA - BA - DGB - 0005 - 11...
Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 3000 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 6040 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 127 TR - ELA - BA - DGB - 0005 - 11...
Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 3000 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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Bit 8-15: Sub-Index des gemappten Objekts = 0 Bit 16-31: Index des gemappten Objekts = 6040 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 127 TR - ELA - BA - DGB - 0005 - 11...
PDO Mapping nein Wert 2: Mailbox senden (Slave --> Master) TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 41 of 127...
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Zugriff PDO Mapping nein Wert 4: Prozessdaten-Eingang (Slave --> Master) TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
0x1A01: TxPDO 2 oder 0x1A02: TxPDO 3 Default 0x1A00: TxPDO 1 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 43 of 127...
PDO Mapping nein Wert Min. Zeit zwischen zwei SM2/3 Ereignissen in ns. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 127 TR - ELA - BA - DGB - 0005 - 11...
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Wert vom lokalen Speicher zum Sync Manager benötigt, bevor die Daten für den EtherCAT verfügbar sind. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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Fehlerzähler wird erhöht, wenn fehlende Sync Manager Wert Ereignisse festgestellt werden. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 127 TR - ELA - BA - DGB - 0005 - 11...
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Conditional Zugriff PDO Mapping 0: keine Fehlerunterstützung Wert 1: Synchronisationsfehler TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 47 of 127...
Mess-Schritt 6030 Geschwindigkeitswert Integer16 6040 Beschleunigungswert Integer16 Tabelle 7: Encoder-Profilbereich TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Bit 0 = 1: Interpolation eingeschaltet Die Buszykluszeit kann über „Objekt 3001h: Buszykluszeit“ und die Mess-System- Zykluszeit über „Objekt 3002h: Interne Zykluszeit“ ausgelesen werden. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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Abbildung 10: Beispiel für die Ausgabe des Positionswerts ohne Interpolation Interpolation = EIN Abbildung 11: Beispiel für die Ausgabe des Positionswerts mit Interpolation TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 127...
Bit 1 = 1: Gerät im Initialisierungszustand zur Berechnung des Buszyklusses --> keine gültige Ausgangsdaten Default TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
0x0000: Position steigend zum Stabende Wert 0x000C: Position fallend zum Stabende TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 127 TR - ELA - BA - DGB - 0005 - 11...
Auflösung in Objekt 6005, Sub-Index 1 „Positions-Schritt“. Messlänge Messlänge Schritten Auflösung TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 53 of 127...
Byte 3 bis 2 bis 2 bis 2 bis 2 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Anzahl der Einträge Datentyp UNSIGNED8 Kategorie Mandatory Zugriff PDO Mapping nein Wert TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 55 of 127...
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Ausgabe in 1 m/s : Eingabewert = 1000 Default 100 = 0,1 ms TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 127 TR - ELA - BA - DGB - 0005 - 11...
Wert Beschleunigungswert Byte 0 Byte 1 bis 2 bis 2 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 57 of 127...
Mess-System betriebsbereit, Verbindung zum Master hergestellt, es werden momentan keine Daten übermittelt. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 127 TR - ELA - BA - DGB - 0005 - 11...
Abort Code DWORD Abort Code Tabelle 8: Abort SDO Transfer Request TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 59 of 127...
0x08 00 00 23 Dynamischer Erstellungsfehler des Objektverzeichnisses, oder kein Objektverzeichnis vorhanden Tabelle 9: SDO Abort Codes TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 127 TR - ELA - BA - DGB - 0005 - 11...
Error Code F000-FFFF: Herstellerspezifisches Fehlerfeld reserviert BYTE[n-10] noch nicht spezifiziert Tabelle 10: Emergency Request TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 61 of 127...
Geräteprofil-spezifisch reserviert, immer 0 Hersteller-spezifisch Tabelle 12: Aufbau des Error Registers TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 127 TR - ELA - BA - DGB - 0005 - 11...
Schirmung und die Leitungsführung müssen nach den Aufbaurichtlinien für jeweilige Feldbus-System ausgeführt sein. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 63 of 127...
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Fehlerursachen und Abhilfen TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
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_Commissioning _Parameterization _Cause of faults and remedies User Manual Interface TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 65 of 127...
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All other specified products, names and logos serve exclusively for information purposes and may be trademarks of their respective owners, without any special marking to indicate this. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 127...
5.2.1 Indicator states and flash rates ................91 5.2.2 Link / Data Activity LED, IN/OUT ................92 5.2.3 Net Run LED ......................92 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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9.3.1 Emergency Error Codes ..................126 9.3.2 Error Register ......................126 9.4 Miscellaneous faults ....................... 127 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 127 TR - ELA - BA - DGB - 0005 - 11...
07/10/2018 Chapter 8.2 Object 2001h: Interpolation examples added 04/09/2020 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 69 of 127...
see chapter “Other applicable documents” in the Assembly Instructions www.tr-electronic.com/f/TR-ELA-BA-DGB-0004 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 127 TR - ELA - BA - DGB - 0005 - 11...
IEEE 1588-2002 IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Extensible Markup Language, description file for commissioning the measuring system. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 127 TR - ELA - BA - DGB - 0005 - 11...
Assembly Instructions, particularly the chapter "Basic Safety Instructions" contained therein, must have been read and understood prior to commencement of work TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Slave Slave Slave Master Ethernet Figure 1: EtherCAT functional principle TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Through the system, the accuracy of a speed calculation no longer depends on the jitter of the communication system. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
"Device Profile for Encoder", CiA DS-406, known from CANopen. Figure 3: CANopen over EtherCAT communication mechanism TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 127 TR - ELA - BA - DGB - 0005 - 11...
Figure 5: EtherCAT organized in the ISO/OSI layer model EN 50325-4: Industrial Communication Systems, based on ISO 11898 (CAN) for Controller Device Interfaces. Part 4: CANopen. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
Important features of SDO and PDO Figure 7: Comparison of PDO/SDO characteristics TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 127 TR - ELA - BA - DGB - 0005 - 11...
"Download SDO Segment" Request / "Upload SDO Segment" Response can contain more than 7 bytes of data Download and upload of all sub-indices at once TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
Initiate SDO Upload Expedited are dealt with in more detail below. Up to four bytes can be written and up to four bytes read via these services. This is sufficient for most objects. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 127...
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Initiate SDO Upload service response. The server starts as many Upload SDO Segment services as are required to transfer all data from the server. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
Write 2 byte SDO Request 0x2F Write 1 byte SDO Request TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code, which provides information on the cause of the error, see chapter SDO Abort Codes, page 124. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
The following SDO read frame can be derived from the above protocol: Meaning Valid for 0x40 Read request SDO Request TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
In the case of an error (SDO response CCD = 0x80), the data range contains a 4-byte-error code, which provides information on the cause of the error, see chapter SDO Abort Codes, page 124. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
Stop Output Update, Stop Input Update Stop Input Update, Stop Mailbox Communication Stop Output Update, Stop Input Update, Stop Mailbox Communication TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 127 TR - ELA - BA - DGB - 0005 - 11...
+ 49 (0) 9 11 / 5 40 5629 Email: info@ethercat.org Internet: www.ethercat.org TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 87 of 127...
In particular, the applicable EMC directive and the shielding and grounding directives must be observed! TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 127...
15 21 26 1 Harting 21 03 281 1405 HARAX M12-L TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 89 of 127...
This applies for the SAFE-OPERATIONAL and OPERATIONAL states. Mailbox access is generally triggered by SDO requests. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 127...
Triple flash followed by a long OFF phase, 1000 ms. Table 5: LED indicator states TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
The device is in state SAFE-OPERATIONAL Single Flash The device is in state OPERATIONAL TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 127 TR - ELA - BA - DGB - 0005 - 11...
Irrespective of the measuring system operating modes supported, many EtherCAT masters provide the "Free Run" operating mode. In this operating mode, the measuring system does not output any plausible speed and acceleration values. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
1C33 ARRAY Unsigned16 Parameter (Input) Table 6: Communication-specific standard objects TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Access PDO mapping " ", depending on the device type Value TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 95 of 127...
Access PDO mapping Value "Vxxx", depending on the current version TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Data type UNSIGNED32 Category Mandatory Access PDO mapping Value 1289 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 97 of 127...
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Serial Number Data type UNSIGNED32 Category Mandatory Access PDO mapping Value TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Bit 8-15: Sub-index of the mapped object = 0 bit 16-31: Index of the mapped object = 3000 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 6030 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 127 TR - ELA - BA - DGB - 0005 - 11...
Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 3000 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Page 102
Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 6040 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 127 TR - ELA - BA - DGB - 0005 - 11...
Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 3000 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
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Bit 8-15: Sub-index of the mapped object = 0 Bit 16-31: Index of the mapped object = 6040 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 127 TR - ELA - BA - DGB - 0005 - 11...
Access PDO mapping Value 2: Send mailbox (Slave --> Master) TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 105 of 127...
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Access PDO mapping Value 4: Process data input (Slave --> Master) TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 127 TR - ELA - BA - DGB - 0005 - 11...
0x1A01: TxPDO 2 or 0x1A02: TxPDO 3 0x1A00: TxPDO 1 Default TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 107 of 127...
PDO mapping Value Min. time between two SM2/3 events in ns. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 127 TR - ELA - BA - DGB - 0005 - 11...
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Value process data from the local memory to the Sync Manager before the data is available for EtherCAT. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
Page 110
This error counter is incremented when the application Value expects a Sync Manager event but does not receive it in time. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 127 TR - ELA - BA - DGB - 0005 - 11...
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PDO mapping 0: no error support Value 1: Synchronization error TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 111 of 127...
Integer16 6040 Acceleration value Integer16 Table 7: Encoder profile range TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
The bus cycle time can be read out via „Object 3001h: Bus cycle time“ and the measuring system cycle time via „Object 3002h: Internal cycle time“. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
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Figure 10: Example for position value output without interpolation Interpolation = ON Figure 11: Example for position value output with interpolation TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 127 TR - ELA - BA - DGB - 0005 - 11...
Bit 1 = 1: Device in initialization state to calculate the bus cycle --> no valid output data Default TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11...
0x0000: Position rising at rod end Value 0x000C: Position falling at rod end TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 127 TR - ELA - BA - DGB - 0005 - 11...
Object 6005, Sub-index 1 "Position step". Measuring length Measuring length steps resolution TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 117 of 127...
Byte 3 to 2 to 2 to 2 to 2 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 127 TR - ELA - BA - DGB - 0005 - 11 04/09/2020...
Number of entries Data type UNSIGNED8 Category Mandatory Access PDO mapping Value TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 119 of 127...
Page 120
Output in 1 m/s : Input value = 1000 Default 100 = 0.1 ms TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 127 TR - ELA - BA - DGB - 0005 - 11...
Acceleration value Byte 0 Byte 1 to 2 to 2 TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 121 of 127...
Measuring system ready for operation, connection to master established, no data transfer. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 127 TR - ELA - BA - DGB - 0005 - 11...
Abort code DWORD Abort code Table 8: Abort SDO Transfer Request TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 123 of 127...
0x08 00 00 23 Dynamic creation error in the object dictionary, or no object dictionary present Table 9: SDO Abort Codes TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 127 TR - ELA - BA - DGB - 0005 - 11...
Error Code F000-FFFF: Manufacturer-specific error field reserved BYTE[n-10] not yet specified Table 10: Emergency Request TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020 TR - ELA - BA - DGB - 0005 - 11 Page 125 of 127...
0 Manufacturer-specific Table 12: Structure of the error register TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 127 TR - ELA - BA - DGB - 0005 - 11...
The shielding and line routing must be executed in accordance with the Equipment Mounting Directives for the respective field bus system. TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 04/09/2020...
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