EtherCAT communication and synchronisation
Info
SDO write command (SDO download/Download
SDO)
è
SDO error message (Abort SDO transfer)
è
Emergency communication (Emergency communication)
è
SDO information communication (SDO information com-
munication)
1)
Ethernet over EtherCAT communication (Ethernet over
EtherCAT communication)
è
1) The CMMT supports SDO information communication for the transmission of "Get OD list/Get object description/Entry descrip-
tion/SDO info error".
Tab. 457 Overview of EtherCAT communication and synchronisation
11.3.2
EtherCAT bus
Topology
The CMMT can be integrated into an EtherCAT network string with ring, star or line topology
Ports
The CMMT is integrated into an EtherCAT network through the following connections.
–
Port XF1 IN: EtherCAT input
–
Port XF2 IN: EtherCAT output
Termination
The EtherCAT Slave Controller (ESC) monitors the two EtherCAT ports (XF1 IN/XF2 OUT) of the CMMT.
An open XF2 OUT port is automatically closed by the EtherCAT Slave Controller by the loopback func-
tion.
Wiring
For additional information see the description, assembly and installation of the servo drive
è
11.3.3
EtherCAT Slave Controller ESC
Der EtherCAT Slave Controller ESC forms the central communication unit for the CMMT for the
exchange of data between the control unit and the EtherCAT devices. Via the Distributed Clock DC the
EtherCAT Slave Controller controls the cyclical synchronous processing and transmission of process
data.
11.3.4
Protocol
The CMMT supports the following protocols for exchanging communication data:
EtherCAT
518
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
Page 615: ......
