SEW-Eurodrive FSE24B EtherCAT, Manual

Page: 18 / 52

18
Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
5
Configuration of the EtherCAT
®
master for MOVITRAC
®
B with XML file
Configuration and Startup
tween master and slave. In line with CANopen, a difference is made between Rx (re-
ceive) and Tx (transmit) process data objects.
Rx process data
objects Rx process data objects (Rx-PDO) are received by the EtherCAT
®
slave. They transport
process output data (control values, setpoints, digital output signals) from the
EtherCAT
®
master to the EtherCAT
®
slave.
Tx process data
objects Tx process data objects (TX-PDO) are returned from the EtherCAT
®
slave to the
EtherCAT
®
master. They transfer process input data (actual values, statuses, digital
input information, etc.).
Two PDOs of different size can be used for cyclic process input and output data for com-
munication with the FSE24B of MOVITRAC
®
B.
• OutputData1 (standard 3 PO)
Static PDO with 3 cyclic process output data words that are connected in fixed con-
figuration with the standard process data of MOVITRAC
®
B (see "MOVITRAC
®
B
Communication and Fieldbus Unit Profile" manual).
• OutputData1 (standard 10 PO)
Static PDO with 10 cyclic process output data words that are connected in fixed con-
figuration with the standard process data of MOVITRAC
®
B (see "MOVITRAC
®
B
Communication and Fieldbus Unit Profile" manual). The process output data words
4 – 10 can only be used via IPOS
plus®
.
• InputData1 (standard 3 PI)
Static PDO with 3 cyclic process input data words that are connected in fixed config-
uration with the standard process data of MOVITRAC
®
B (see "MOVITRAC
®
B Com-
munication and Fieldbus Unit Profile" manual).
• InputData1 (standard 10 PI)
Static PDO with 10 cyclic process input data words that are connected in fixed con-
figuration with the standard process data of MOVITRAC
®
B (see "MOVITRAC
®
B
Communication and Fieldbus Unit Profile" manual). The process input data words 4
– 10 can only be used via IPOS
plus®
.
List of the possible process data objects (PDO) for FSE24B MOVITRAC
®
B
INFORMATION
• Either 3 or 10 process data words can be transmitted in each direction.
If, for example, PDO OutputData1 (standard 3 PO) is used, PDO InputData1 (stan-
dard 3 PI) must be used as well.
• Both input PDO or both output PDO may not be activated at the same time.
Index Size Name Mapping Sync Manager Sync Unit
1600hex
(5632dec) 6 bytes OutputData1 (standard 3 PO) Fixed con-
tent 2 0
1601hex
(5633dec) 20 bytes OutputData1 (standard 10 PO) Fixed con-
tent 2 0