Beckhoff EtherCAT EL6001, Документация

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Commissioning
EL600x, EL602x 128 Version: 4.6
◦ Start sending through rising edge of Ctrl SendContinuous
◦ Terminal signals completed transfer through InitAccepted = 1. InitAccepted is reset with
SendContinuous .
CmdNameMeaning ControlByteCmdControlByteBit 0: Enable MultiDataFrame feature Bit
1..7: do not use Valuefirst data frameselect preferred value from data frame table0x2200
+ NoOfBytesNo of bytesNo of bytes transfered with first data frame Valuesecond data
frameselect prefered value from data frame table
Note: In this mode coding 8M1 and 8S1 is also supported, although this coding cannot be selected
via 0x8000:15.
• Further features can be implemented on request
Data transfer examples
Initialization
Initialization is performed prior to the first transmission/reception. The terminal is thereby parameterized with
the data from the corresponding Settings object.
Procedure:
1. Set “Init request” to 1
2. The terminal confirms successful initialization by setting “Init accepted”
3. Reset “Init request”
4. The terminal sets “Init accepted” to 0
The terminal is now ready for data exchange.
Data transmission from the controller to the terminal (send 2 characters)
1. Set “Output length” to 2
2. Fill “Data Out 0” and “Data Out 1” with user data
3. Change the state of “Transmit request”
4. The terminal acknowledges receipt of the data by changing the state of the “Transmit accepted” bit.
Data transmission from the terminal to the controller (receive characters)
1. The terminal indicates that there is new data in the process image by changing the state of the “Re-
ceive request” bit.
2. The number of bytes received is written in “Input length”
3. The controller acknowledges acceptance of the bytes by changing the state of “Receive request”