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X-gateway Interface Addendum

EtherCAT Slave

Rev. 1.02

Содержание EtherCAT Slave

Страница 1: ...Japan Sweden U S A 49 721 96472 0 81 45 478 5340 46 35 17 29 20 1 773 404 3486 ge sales hms networks com jp sales hms networks com sales hms networks com us sales hms networks com X gateway Interface...

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Страница 3: ...r 2 Installation and Configuration Gateway Config Interface 2 1 Chapter 3 Data Exchange General Information 3 1 Input Data Gateway to EtherCAT 3 2 Output Data EtherCAT to Gateway 3 2 Chapter 4 CANopen...

Страница 4: ...nd should not be considered as a com mitment by HMS Industrial Networks AB HMS Industrial Networks AB assumes no responsibility for any errors that may appear in this document There are many applicati...

Страница 5: ...ieldbus Appendix HMS EtherCAT Slave Interface Installation Sheet HMS Change Page s Added chapter Installation and Configuration 2 1 Corrected RxPDO and TxPDO numbers and object associations 3 1 Misc m...

Страница 6: ...itten in the format NNNNh where NNNN is the hexadecimal value 16 32 bit values are generally stored in Motorola big endian format unless otherwise stated Support HMS Sweden Head Office E mail support...

Страница 7: ...anges data through two buffers as follows Input Buffer This buffer holds data forwarded from the other network i e data which can be read by the Ether CAT master Output Buffer This buffer is forwarded...

Страница 8: ...onomously Red double flash Major internal fault Red Sync manager watchdog timeout L A 2 Off No link sensed on port 2 no power Green Link sensed on port 2 Green flickering Exchanging packets on port 2...

Страница 9: ...tes Specifies the amount of output data to exchange by means of Process Data Objects RxPDO Input SDO size bytes Specifies the amount of input data to exchange by means of Service Data Objects SDO Outp...

Страница 10: ...ollows Note The Slave Interface will only map as many PDOs as required to hold the specified configuration PDO Corresponding Object Gateway Memory TxPDO 1A00h Index 2000h sub index 1 128 Input Data by...

Страница 11: ...urther information See also 4 3 Output Buffer Example A Input PDO Size 16 Input SDO Size 8 Live List Enabled Control Status Word Enabled Example B Input PDO Size 24 Input SDO Size 0 Live List Disabled...

Страница 12: ...0h Number of entries U8 R See 3 1 Data Exchange 01h Nn Mapped object n U32 R 1C00h Sync Manager Communica tion Type 00h Number of entries U8 R 04h 01h Mailbox wr U8 R 01h 02h Mailbox rd U8 R 02h 03h P...

Страница 13: ...h 80h and Object Index 2001 Sub Index 00h 02h See also 4 2 Input Buffer Index Object Name Sub Index Description Type Access Notes 2000h Inputs 00h No of entries U8 RO 01h Input byte 0000 U8 RO 02h Inp...

Страница 14: ...100h Sub Index 00h 80h and Object Index 2101 Sub Index 00h 02h See also 4 3 Output Buffer Index Object Name Sub Index Description Type Access Notes 2100h Outputs 00h No of entries U8 RO 01h Output byt...

Страница 15: ...02 compliant Supports segmented SDO access Up to 512 bytes of cyclic data in each direction Sync Managers The EtherCAT Slave Interface features four Sync Managers Sync Manager 0 Used for mailbox writ...

Страница 16: ...3 RD 4 Normally left unused to ensure signal integrity these pins are internally tied together and terminated to PE via a filter circuit 5 6 RD 7 Normally left unused to ensure signal integrity these...

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