Lenze i550

12.10.3 Process data transfer
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Process data is cyclically transferred between the EtherCAT master and the slaves (perma-
nent exchange of current input and output data).
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The transfer of process data is me-crical.
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The process data serve to control the EtherCAT slaves.
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The process data can be directly accessed by the master. The data in the PLC, for instance,
are directly stored in the I/O area.
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The contents of the process data are dened via I/O Data mapping (denion of the Ether-
CAT objects that are to be transmied cyclically).
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Process data is not saved in the device.
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Process data is, e. g. setpoints, actual values, control and status words.
Conguraon
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The available objects can be mapped in the CiA 402 operang mode "CiA: Velocity mode"
(0x6060 (P301.00) = 2) and as dynamic (free) conguraon. The contents can be selected
from all mappable objects.
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Standard mapping objects for the CiA 402 operang mode "CiA: Velocity mode":
4Standard mapping ^ 382
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Mapping objects for a dynamic (free) assignment: 4Dynamic (free)
conguraon ^ 383
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Mapping is executed in the master conguraon and automacally transferred to the
slave.
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The data format is 0xAAAABBCC (AAAA = index, BB = subindex, CC = length).
12.10.3.1 Standard mapping
Standard mapping of the RPDOs in the CiA 402 operang mode "CiA: Velocity mode"
Master à slave
0x1603:001 RPDO mapping entry 1 (CiA: Velocity mode) CiA: Controlword (0x6040)
0x1603:002 RPDO mapping entry 2 (CiA: Velocity mode) CiA 402 parameter "Target velocity" (0x6042 (P781.00))
0x1605:001 RPDO mapping Entry 1 (freely congurable) Not assigned.
Standard mapping of the TPDOs in the CiA 402 operang mode "CiA: Velocity mode"
Slave à master
0x1A03:001 TPDO mapping entry 1 (CiA: Velocity mode) CiA: Statusword (0x6041 (P780.00))
0x1A03:002 TPDO mapping entry 2 (CiA: Velocity mode) CiA 402 parameter "Velocity actual value" (0x6044 (P783.00))
0x1A03:003 TPDO mapping entry 3 (CiA: Velocity mode) Error code (0x603F (P150.00))
0x1A05:001 TPDO mapping entry 1 (freely congurable) Digital inputs
Parameter
Address Name / seng range / [default seng] Info
0x1603:001 RPDO4 mapping parameter: Applicaon object 1
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Read only
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From version 02.00
Predened mapping entry 0x60400010 of "CiA: Controlword" (0x6040)
for the CiA 402 operang mode "CiA: Velocity mode".
0x1603:002 RPDO4 mapping parameter: Applicaon object 2
•
Read only
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From version 02.00
Predened mapping entry 0x60420010 of "Target velocity" (0x6042
(P781.00)) for the CiA 402 operang mode "CiA: Velocity mode".
0x1A03:001 TPDO4 mapping parameter: Applicaon object 1
•
Read only
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From version 02.00
Predened mapping entry 0x60410010 of "CiA: Statusword" (0x6041
(P780.00)) for the CiA 402 operang mode "CiA: Velocity mode".
0x1A03:002 TPDO4 mapping parameter: Applicaon object 2
•
Read only
•
From version 02.00
Predened mapping entry 0x60440010 of "Velocity actual value"
(0x6044 (P783.00)) for the CiA 402 operang mode "CiA: Velocity
mode".
0x1A03:003 TPDO4 mapping parameter: Applicaon object 3
•
Read only
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From version 02.00
Predened mapping entry 0x603F0010 of "Error code" (0x603F
(P150.00)) for the CiA 402 operang mode "CiA: Velocity mode".
Conguring the network
EtherCAT
Process data transfer
382