ADF Web HD67E08-A1, Руководство пользователя

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User Manual EtherCAT Slave / CANopen
Document code: MN67E08_ENG Revision 1.000 Page 24 of 32
SET PDO ACCESS:
By pressing the “
Set PDO Access ” button from the main window for SW67E08 (Fig. 2) the window “Set PDO Access” appears (Fig. 7a and
7b).
This window is made to create the Receive and the Transmit PDO in the CANopen side, and to indicate which bytes are associated to these
PDO.
It is divided in two parts, the " Receive PDO" and the " Transmit PDO ". The first part is used to receive PDO in the CANopen network and
copy the data in the EtherCAT
array. The second part is used to transmit PDO in the CANopen network with the data of EtherCAT array.
The data of the columns in the “Receive PDO” have the
following meanings:
In the Field " Cob-ID " the address for the PDO is
defined;
In the Field " Dimension " the dimension of the
PDO is defined (it can be between 1 and 8);
In the Field " Add B1 " the first byte where the
data will be saved in the EtherCAT array is
defined;
In the Field " Add B2 " the second byte where the
data will be saved in the EtherCAT array is
defined (only if
Dimension > 1);
In the Field " Add B3 " the third byte where the
data will be saved in the EtherCAT array is
defined (only if
Dimension > 2);
In the Field " Add B4 " the fourth byte where the data will be saved in the EtherCAT array is defined (only if Dimension > 3);
In the Field " Add B5 " the fifth byte where the data will be saved in the EtherCAT array is defined (only if Dimension > 4);
In the Field " Add B6 " the sixth byte where the data will be saved in the EtherCAT array is defined (only if Dimension > 5);
In the Field " Add B7 " the seventh byte where the data will be saved in the EtherCAT array is defined (only if Dimension > 6);
In the Field " Add B8 " the eighth byte where the data will be saved in the EtherCAT array is defined (only if Dimension > 7);
The field “ TimeOut ” is used for put at zero the data into EtherCAT if the PDO doesn’t arrive with a frequency less than the time
expressed in the field. If the value in the field is 0, it means that you don’t want to use this feature, and so the value is never
deleted;
In the field " Mnemonic " the description for the PDO is defined.
Figure 7a: “Set PDO Access – Receive PDO” window