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Appendix |EtherCAT Documentation
confocalDT 24x1
If
ERP PREOP
appears in the
Current State
, the cause is reported in the message
window. In the example here the incorrect initialization of the synchronization manager
is the reason. This will be the case if the settings for the PDO mapping in the sensor are
different from the settings in the ESI file (confocalDT24XX.xml).
On delivery of the sensor only one measurement value (distance 1) is set as output size
(in both the sensor and in the ESI file).
Additional data can be selected in the object 21B0h, for example intensity or minimum.
To configure the synchronous manager correctly, it is first necessary to read the object
directory of IFC24x1.
Select
Mappaple Objects (TxPDO).
Thus TwinCAT reads all values of objects known to it. This is important for the next step,
because the mapping (objects 0x1A00, 0x1A01, ... and 0x1C13) has changed.
Confirm with
OK.
