Basics communication
EL33xx-00x0
39
Version: 4.2
Boot
In the
Boot
state the slave firmware can be updated. The
Boot
state can only be reached via the
Init
state.
In the
Boot
state mailbox communication via the
file access over EtherCAT
(FoE) protocol is possible, but no
other mailbox communication and no process data communication.
3.5
CoE Interface
General description
The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices.
EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they
require for operation, diagnostics or commissioning.
CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.
The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via
EtherCAT in read or write mode, depending on the attributes.
Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger
byte fields. They can be used to describe a wide range of features. Examples of such parameters include
manufacturer ID, serial number, process data settings, device name, calibration values for analog
measurement or passwords.
The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value
ranges are
• Index: 0x0000 …0xFFFF (0...65535
dez
)
• SubIndex: 0x00…0xFF (0...255
dez
)
A parameter localized in this way is normally written as 0x8010:07, with preceding "x" to identify the
hexadecimal numerical range and a colon between index and subindex.
The relevant ranges for EtherCAT fieldbus users are:
• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.
• 0x8000: This is where the operational and functional parameters for all channels are stored, such as
filter settings or output frequency.
Other important ranges are:
• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
0x8000 range).
• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
Availability
Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated processor
usually have no variable parameters and therefore no CoE list.
If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the
elements:
Содержание EL33-00 Series
Страница 2: ......
Страница 6: ...Table of contents EL33xx 00x0 6 Version 4 2...
Страница 17: ...Product overview EL33xx 00x0 17 Version 4 2 Fig 10 EL3312 Fig 11 EL3314...
Страница 18: ...Product overview EL33xx 00x0 18 Version 4 2 Fig 12 EL3314 0002 Fig 13 EL3314 0010...
Страница 60: ...Mounting and wiring EL33xx 00x0 60 Version 4 2 4 12 3 EL3314 EL3314 00xx LEDs Fig 43 EL3314 Fig 44 EL3314 0002...
Страница 61: ...Mounting and wiring EL33xx 00x0 61 Version 4 2 Fig 45 EL3314 0010 Fig 46 EL3314 0090...
Страница 66: ...Mounting and wiring EL33xx 00x0 66 Version 4 2 4 13 3 EL3314 00x0 Connection Fig 50 EL3314 Fig 51 EL3314 0002...
Страница 103: ...Commissioning EL33xx 00x0 103 Version 4 2 Fig 100 Incorrect driver settings for the Ethernet port...
Страница 114: ...Commissioning EL33xx 00x0 114 Version 4 2 Fig 119 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...
