D Safe operational state
In the
Safe operational
state the slave application provides current
input data, but output data is not manipulated. The outputs are set to
their “safe state”.
E
Operational state
In the
Operational
state the slave application provides current input
data and the master application provides current output data that
manipulates the slave application
’
s outputs.
●
CoE
CoE is an EtherCAT
®
application layer protocol that defines a CANopen
compatible infrastructure on top of EtherCAT
®
. All the performance
advantages that EtherCAT
®
provides can be utilized by CoE. Both Process
Data Objects (PDO) and Service Data Objects are supported providing
cyclic and on
-
demand information exchange respectively. The CANopen
Object Dictionary is also supported. CoE utilizes EtherCAT
®
mailbox
communication to provide these services.
11.10.6
Setting up EtherCAT
®
channels in Genesis
With Perception software it is possible to assign certain channels to be available
as a PDO/SDO channel on the EtherCAT
®
bus. The
R
eal
-
T
ime
F
ormula
D
atabase (RT
-
FDB) channels can be configured for this purpose.
Note
Besides the RT
-
FDB channels, no other channel type can be published to the
EtherCAT
®
bus.
Real
-
time formula database
Perception 7.0 introduced channels that can be created by the real
-
time formula
database. In short, these channels produce a user defined mathematical
output. Inputs for this user defined math can be analog, Timer/Counter and
event channels. The result of other RT
-
FDB channels can serve also as input.
The example below shows a simple RT
-
FDB setup (see Figure 11.66).
Figure 11.66:
Simple real
-
time formula database setup
GEN3t
234
I3995-3.1 en HBM: public