Table of Contents
Advertisement
Table of contents
5.2.5
OFFLINE configuration creation....................................................................................... 88
5.2.6
ONLINE configuration creation ........................................................................................ 93
5.2.7
EtherCAT subscriber configuration ................................................................................ 101
5.2.8
Import/Export of EtherCAT devices with SCI and XTI.................................................... 110
5.3
General Commissioning Instructions for an EtherCAT Slave ....................................................... 117
5.4
Notices on analog specifications ................................................................................................... 125
5.4.1
Full scale value (FSV), output end value ....................................................................... 125
5.4.2
....................................................................................................................................... 126
5.4.3
Temperature coefficient tK [ppm/K]................................................................................ 127
5.4.4
Long-term use ................................................................................................................ 128
5.4.5
Ground reference: single-ended/differential typification................................................. 129
5.4.6
Common-mode voltage and reference ground (based on differential inputs) ................ 134
5.4.7
Dielectric strength .......................................................................................................... 135
5.4.8
Temporal aspects of analog/digital or digital/analog conversion.................................... 136
5.4.9
Explanation of the term GND/Ground ............................................................................ 139
5.4.10
Sampling type: Simultaneous vs. multiplexed................................................................ 141
5.5
Basic function principles/functional description ............................................................................. 144
5.5.1
Measuring ranges and output ........................................................................................ 144
5.5.2
Selecting a measuring range ........................................................................................ 144
5.5.3
Autorange....................................................................................................................... 145
5.5.4
Filter ............................................................................................................................... 145
5.5.5
Frequency ...................................................................................................................... 145
5.5.6
Presentation ................................................................................................................... 146
5.5.7
Zero Compensation Interval........................................................................................... 146
5.5.8
Calibration ...................................................................................................................... 146
5.6
Process data ................................................................................................................................. 147
5.6.1
Process image ............................................................................................................... 147
5.6.2
Control, Status, Settings-Word....................................................................................... 149
5.6.3
PDO Assignment............................................................................................................ 150
5.6.4
Calculation of process data............................................................................................ 151
5.6.5
Determining (user) gain values ...................................................................................... 153
5.7
Object description and parameterization....................................................................................... 154
5.7.1
Restore object ................................................................................................................ 155
5.7.2
Configuration data.......................................................................................................... 155
5.7.3
Configuration data (vendor-specific) .............................................................................. 157
5.7.4
Input data ....................................................................................................................... 158
5.7.5
Output data .................................................................................................................... 159
5.7.6
Information and diagnostic data ..................................................................................... 159
5.7.7
Standard objects (0x1000-0x1FFF) ............................................................................... 159
5.8
Sample Program ........................................................................................................................... 164
6 Error handling and diagnostics ........................................................................................................... 168
7 Appendix ................................................................................................................................................ 169
7.1
Accessories ................................................................................................................................... 169
7.2
EtherCAT AL Status Codes .......................................................................................................... 170
7.3
Firmware compatibility .................................................................................................................. 171
4
Version: 3.0
EL3681
Advertisement
Table of Contents
