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Commissioning and configuration
5
Commissioning and configuration
5.1
Integrating into a TwinCAT project
The procedure for integration in a TwinCAT project is described in this Quick start guide.
5.2
Basic function principles
The EP6080-0000 supports two memory access methods:
• Cyclic process data [} 23]
• Acyclic SDO/CoE access [} 26]
Delivery state
The EP6080-0000 is delivered ready for operation with no predefined acyclic data structures.
General information on data consistency
The EP6080-0000 can be used to store machine data cyclically in a fail-safe manner. A
corresponding feedback in the status (cyclic operation) confirms that the data has been correctly
transferred from the EP6080-0000. The data must appear correctly in the CoE in acyclic operation
mode.
An operational case may occur where the box is switched off or the task is stopped during cyclic or
acyclic write access. In this case, shadow buffers or the NOVRAM in the EP6080-0000 ensure data
consistency at the lowest level, so that the last correctly written data set can always be accessed.
At application level, however, the user must take care himself through appropriate use that the
application adopts consistent data, for example, at the start (e.g. continuous counters or ID
recognition in the data to be saved).
Example:
Several acyclic data objects are defined from 1 to 3 that are continuously written to by the
application in sequence, e.g. 3 axis positions that are determined simultaneously in the application.
The power fails during write access to object 2. Object 1 now contains the current axis position 1,
but objects 2 & 3 contain outdated positions. At restart, the application must not assume that it is
receiving 3 axis positions originating from the same point in time.
The same side effects must be taken into account in the case of simultaneous operation of the
EP6080-0000 and Persistent/Retain/Other NOVRAM data (e.g. from FC cards or CX).
Operational readiness
It is imperative that you ensure in your application that the box has a valid WorkingCounter
WcState before beginning with writing and, in particular, reading communication! Process data
delivered by an EtherCAT slave when the WcState is ≠ 0 (even if the data is ≠0) must be discarded
as invalid!
CoE directory
The functionality of the EP6080-0000 results in CoE objects being deleted or created during
parameterization. Please refer to the notes [} 27] in order to ensure correct online CoE display.
22
Version: 1.0
EP6080-0000
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