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9.6
EtherCAT
9.6.1 Overview
The EtherCAT slave driver allows an EtherCAT master (i.e. TwinCAT) to interact with the interface card
via cyclic exchange of I/O process data and acyclic requests. The cyclic I/O process data is entirely
user-configurable.
Some other notes of interest are:
•
EtherCAT is a dedicated real-time protocol and cannot coexist with other Ethernet (SUE)
protocols.
•
A USB connection is required for use with the studio.
•
The lowest supported FreeRun Cycle Time is 1ms.
•
Supports up to 32 transmit data words and 32 receive data words.
•
Slave device profile 5001.
•
The ESI file can be obtained from the included CD-ROM or downloaded from the
page
.
9.6.2 Device Settings
In the studio’s
Project
panel, navigate to
A1-ETHERNET …Ethernet…EtherCAT
.
Currently, there are no configurable device settings.
9.6.3 Transmit and Receive Process Data Word Settings
In the studio’s
Project
panel, navigate to
A1-ETHERNET…Ethernet…EtherCAT…Transmit Process
Data…Transmit Data Word
and/or
Receive Process Data… Receive Data Word
.
The Produced Data Word objects define the structure of status data sent from the inverter to the master.
The Consumed Data Word objects will define the structure of the command data sent from the master
(for example, a TwinCAT PC) to the inverter. These objects allow the creation of custom-built I/O
process data. Up to 32 “command” parameter values can be sent to the inverter, and up to 32 “status”
parameter values can be sent back to the controller. Therefore, up to 32 Transmit and 32 Receive Data
Word objects can be created. The I/O process data format is summarized in Table 39.
Table 39: EtherCAT User Configurable I/O Process Data Format
Consumed Data
(PLC to Inverter)
Produced Data
(Inverter to PLC)
Word Offset
Parameter
Word Offset
Parameter
0
Any
0
Any
1
Any
1
Any
:
Any
:
Any
30
Any
30
Any
31
Any
31
Any
The default I/O configuration is described in Table 40.
Always use the studio to confirm the configuration before commissioning the device
Table 40: EtherCAT Default User-Configurable I/O Process Data Format
Consumed Data
(PLC to Inverter)
Produced Data
(Inverter to PLC)
Word Offset
Parameter
Word Offset
Parameter
0
00.02
0
01.04
1
00.04
1
01.01
:
None
:
None
30
None
30
None
31
None
31
None