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IO-Link master with EtherCAT interface DataLine 4 ports IP 65 / IP 66 / IP 67
82
>
Use CANopen over EtherCAT
34193
CoE is suited for acyclic access to the IO-Link master and the connected IO-Link devices. CoE uses
the fieldbus objects "IO-Link acyclic command" (
→
IO-Link Acyclic Command (0x3100)
(
)). A
separate fieldbus object is provided for each IO-Link port.
To have acyclic access to the device via CoE the user can use the following function blocks:
•
FB_EcCoESdoRead: read SDO of an EtherCAT slave
•
FB_EcCoeSdoWrite: write SDO of an EtherCAT slave
The function blocks for using CoE are part of the
Tc2_EtherCAT.library
function library.
► Add Tc2_EtherCAT.library function block library to the project
Description of the function blocks:
→ Help function of TwinCAT
The following rules apply to the inputs of the CoE function blocks:
Input
Description
Possible values
sNetId
AMS net ID of the EtherCAT master to which the IO-Link
master is connected
depends on the project; e.g. 172.16.2.131.2.1
nSlaveAddr
EtherCAT address of the IO-Link port on the IO-Link
master =
IO-Link port number
0x1001
0x1002
...
0x1004
IO-Link port X01
IO-Link port X02
...
IO-Link port X04
nSubIndex
IO-Link subindex of the parameter
depends on the device;
→ IODD
nIndex
IO-Link index of the parameter
depends on the device;
→ IODD
>
Principle of the acacylic command processing
34201
General processing of acyclic communication:
1 Write command request
►
In the command buffer (0x310n:sub-index 0x01): write required request data.
>
Request data is transmitted.
>
Command processing is initiated.
>
Request channel is locked.
2 Check status
►
In the status byte (0x310n:sub-index 0x02): read status information.
▪
If status == 0xFF: command processing is pending, repeat step 2.
▪
If status < 0xFF: command processing is finished, continue with step 3.
3 Read command response
►
In the response buffer (0x310n:sub-index 0x03): read response data.
>
The request channel is unlocked.
>
Next command processing can be initiated.
The AL1330 can only process one CoE request at a time. If during an active request another
CoE request is started, the device answers with an error (SDO abort code: 0x06090030).