Infranor XtrapulsGem Manual

3
X
trapuls – EtherCAT® Fieldbus Interface
Contents
Content
CONTENTS ............................................................................................................................................. 3
CHAPTER 1 - INTRODUCTION ............................................................................................................. 4
CHAPTER 2 - BASIC INFORMATION ABOUT ETHERCAT® .............................................................. 5
2.1 - MAIN ETHERCAT® SLAVE FUNCTIONS ............................................................................................ 5
2.2 - ETHERCAT® STATE MACHINE ....................................................................................................... 6
2.3 - ETHERCAT® FIELDBUS TOPOLOGY ................................................................................................. 7
CHAPTER 3 - ELECTRICAL INSTALLATION ....................................................................................... 8
3.1 - CONNECTORS ................................................................................................................................. 8
3.1.1 "IN" connector: E3 (XtrapulsGem EtherCAT® extension board), X6 (XtrapulsPac) .............. 8
3.1.2 "OUT" connectors: E4 (XtrapulsGem EtherCAT® extension board), X7 (XtrapulsPac) ........ 8
3.2 - INDICATORS .................................................................................................................................... 8
3.2.1 - Link/Activity Indicators ........................................................................................................... 8
3.2.2 - Run indicator .......................................................................................................................... 9
3.2.3 - Error indicator ........................................................................................................................ 9
3.3 SLAVE ADDRESSING MODES .............................................................................................................. 9
CHAPTER 4 - SPECIFICATIONS OF THE SDOS AND PDOS FOR THE ETHERCAT® EXTENSION
BOARD .................................................................................................................................................. 10
4.1 - SDO ............................................................................................................................................ 10
4.1.1 – Sync manager communication type .................................................................................... 10
4.1.2 – Sync manager channel 0 PDO assignment ........................................................................ 11
4.1.3 – Sync manager channel 1 PDO assignment ........................................................................ 11
4.1.4 – Sync manager channel 2 PDO assignment ........................................................................ 12
4.1.5 – Sync manager channel 3 PDO assignment ........................................................................ 12
4.1.6 – Synchronisation clock object .............................................................................................. 13
4.1.7 – Read access to the Fieldbus controller registers ................................................................ 13
4.1.8 – RPDO watchdog time ......................................................................................................... 13
4.1.9 – Fieldbus Specific Error bits in the Error Code 1 object (0x3022)........................................ 14
4.1.10 – Fieldbus Specific warning bits in the warning code object (0x3024) ................................ 14
4.2 - PDO PARTICULARITIES ................................................................................................................. 15
CHAPTER 5 - SYNCHRONISATION OF XTRAPULS ETHERCAT® SLAVES .................................. 16
SYNC TYPE 0: SYNCHRONISATION AND PROCESS DATA EXCHANGE DISABLED .......................................... 16
SYNC TYPE 1: SYNCHRONISATION DISABLED AND PROCESS DATA EXCHANGE ENABLED ............................ 16
SYNC TYPE 2: SOFT SYNCHRONISATION ................................................................................................ 16
SYNC TYPE 4 : HARD SYNCHRONISATION (STIFF) .................................................................................... 16

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English