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Manual – XFE24A EtherCAT Fieldbus Interface
19
5
Configuring the EtherCAT master for MOVIAXIS® using the XML file
EtherCAT Configuration and Startup
5.2.3 PDO configuration for operation in the MOVIAXIS
®
In the CoE (CANopen over EtherCAT) version, EtherCAT uses the process data objects
(PDO) defined in the CANopen standard for cyclical communication between master
and slave. In line with CANopen, a difference is made between Rx (receive) and Tx
(transmit) process data objects.
Rx process data
objects Rx process data objects (Rx-PDO) are received by the EtherCAT slave. They transfer
process output data (control values, setpoints, digital output signals) from the EtherCAT
master to the EtherCAT slave.
Tx process data
objects Tx process data objects (Tx-PDO) are sent back to the EtherCAT master by the Ether-
CAT slave. They transfer process input data (actual values, statuses, digital input infor-
mation, etc.).
For communication with MOVIAXIS
®
via XFE24A, there is a PDO type available for cy-
clical process input and output data.
•
OutputData1 (Standard 16 PO)
Static PDO with 16 cyclical process output data words which are permanently linked
with the standard process data of the MOVIAXIS
®
(
→
"MOVIAXIS
®
Multi-Axis Servo
Inverter" project planning manual).
• InputData1 (Standard 16 PI)
Static PDO with 16 cyclical process input data words which are permanently linked
with the standard process data of the MOVIAXIS
®
(
→
"MOVIAXIS
®
Multi-Axis Servo
Inverter" project planning manual).
List of possible process data objects (PDO) for XFE24A MOVIAXIS
®
Index Size Name Mapping Sync Manager Sync Unit
1600hex
(5632dez) 32 Byte OutputData1 (Standard 16 PO) Fixed con-
tent 2 0
1A00hex
(5632dez) 32 Byte InputData1 (Standard 16 PI) Fixed con-
tent 3 0
61990AXX
Figure 4: Using process data objects OutputData1 and InputData1
EtherCAT
M aster
SEW
Drive
Ether CAT
acycl. Mailbox
Communication
cycl. InputData1
(Standard 16 PI)
acycl. Mailbox
Communication
cycl. OutputData1
(Standard 16 PO)
Ethernet
Header
Frame
Header
EtherCAT
Header
Data ... FCS
Drive
0 0
I