Related Manuals for Pilz PMCprotego D
Summarization of Contents
General information
About this manual
Describes the assembly, installation, and commissioning of the 'Expansion card EtherCAT' for servo amplifiers.
Target group
Identifies qualified personnel and required standards for using the manual.
Definition of symbols
Explains the meaning of warning symbols like DANGER, WARNING, CAUTION, NOTICE, and INFORMATION.
Abbreviations used
Lists and defines abbreviations relevant to EtherCAT and industrial automation.
Safety
Intended use
Describes the specific purpose of the EtherCAT interface and installation within machinery.
Notes on the online edition (PDF format)
Explains features of the PDF version like bookmarks and cross-references for navigation.
Installation/commissioning
Assembly/installation
Provides crucial safety warnings and instructions for wiring and installing devices.
Connection technology
Details how to connect the EtherCAT network using RJ45 connectors.
Commissioning Guide
Covers the process of setting up and configuring the servo amplifier by qualified personnel.
EtherCAT commissioning
Refers to external documents for TwinCAT and PMCprimo commissioning.
EtherCAT
Slave Register
Lists addresses, lengths, and descriptions of registers in the FPGA memory for EtherCAT.
AL event and interrupt enable
Covers AL event signaling and interrupt enable mechanisms in EtherCAT.
Interrupt enable register
Details the register for enabling individual EtherCAT interface events.
AL Event register
Describes the AL Event register for editing control events and watchdog events.
Phase runup
Explains registers responsible for communication phase runup and status display.
AL Control register
Details the AL Control register for managing communication states like Init, Pre-Op, and Operational.
AL Status register
Describes the AL Status register for displaying current communication states.
AL Status Code register
Details the AL Status Code register for displaying error messages and status.
EtherCAT communication phases
Illustrates the different communication phases and transitions.
CANopen over EtherCAT (CoE) state machine
Explains the CoE state machine for control and status words, similar to CANopen DA402.
Description of states
Defines the different operational states of the servo amplifier.
Commands in the control word
Details the bits within the control word and their functions for state changes.
Bits of the status machine (status word)
Explains the meaning of individual bits in the status word.
Implemented operating modes
Lists the supported operating modes like cyclic synchronous position, velocity, and torque.
Setting the EtherCAT cycle time
Describes how to configure the EtherCAT cycle time.
Recommended cycle time based on the operating modes
Provides recommended minimum cycle times for Position, Speed, and Torque interfaces.
Synchronisation based on the cycle time
Explains PLL compensation for cycle time deviations and permitted jitter.
Latch- control word and latch status word
Details the control and status words for external and internal latch functions.
Mailbox Handling
Explains the acyclical data traffic (object or SDO channel) via mailbox.
Mailbox Output
Describes the process of transmitting mailbox data from Master to Slave.
Mail Input
Explains how the servo amplifier responds to CoE telegrams.
Example of a mailbox access
Provides an example of a mailbox output message and its expected response.
Support
Americas Support
Provides contact details for Pilz technical support in North and South America.
Asia Support
Provides contact details for Pilz technical support in Asian countries.
Europe Support
Provides contact details for Pilz technical support across various European countries.
International Hotline
Offers a central international hotline number and email for technical support.
Company Information
Details Pilz GmbH & Co. KG's address, phone, fax, email, and website.
Need help?
Do you have a question about the PMCprotego D and is the answer not in the manual?
Questions and answers