EtherCAT EZ-ZONE RMZ4, Руководство пользователя

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10.3 D
EFAULT
R
X
PDO
This is the data received by the controller every scan cycle (usually 1-10ms as controlled by the master). It is
configured at index 0x1600 predefined standard data points and 0x1601 for user defined data points for loop1,
0x1602/0x1603 for loop2, etc. The parameters in the user defined (odd numbered) PDO can be changed by
changing the Entry Index and Entry Sub Index contained in the PDO sub index but this is global, not on a per-
module basis. The even PDOs are a standard set defined by the Standard Device Profile (SDP) and are fixed.
PDO Sub Index Name PDO Entry Index PDO Entry Sub Index PDO Entry Name
0x01 Sub Index 001 0x7nn0 0x11 Target Set Point Loop nn
0x02 Sub Index 002 0x7nn0 0x13 Clear Alarms Loop nn
0x03 Sub Index 003 0x7nn0 0x12 Forced MV Loop nn
0x04 Sub Index 004 0x7nn0 0x02 Control Mode Loop nn
0x05 Sub Index 005 0x7nn0 0x01 Control State Loop nn
10.4 D
EFAULT
T
X
PDO
This is the data transmitted by the controller every scan cycle (usually 1-10ms as controlled by the master). Is it
configured at index 0x1A00 for loop1, 0x1A02 for loop2, etc.
PDO Sub Index Name PDO Entry Index PDO Entry Sub Index PDO Entry Name
0x01 Sub Index 001 0x6nn0 0x11 Process Value Loop nn
0x02 Sub Index 002 0x6nn0 0x17 Alarm Condition Loop nn
0x03 Sub Index 003 0x6nn0 0x12 Manipulated Value (Control Output) Loop nn
0x04 Sub Index 004 0x6nn0 0x16 Controlling Set Point Loop nn
0x05 Sub Index 005 0x6nn0 0x01 Actual Control State Loop nn
0x06 Sub Index 006 0x6nn0 0x03 Sensor Error Loop nn
0x07 Sub Index 007 0x6nn0 0x02 Actual Control Loop Mode Loop nn
10.5 U
SER
R
X
PDO
Users can define their own PDO data in the 0x1601, 0x1603, 0x1605… Any RX map-able PDO can be placed in
this area. Each module/slot can have its own User RxPDO set. The only constraint is that the parameters must
be part of this Loop/Module.
10.6 U
SER
T
X
PDO
Users can define their own PDO data in the 0x1A01, 0x1A03, 0x1A05… Any TX map-able PDO can be placed in
this area. Each module/slot can have its own User TxPDO set. The only constraint is that the parameters must
be part of this Loop/Module.
11 D
EVICE
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ROTOCOL