Lenze i550

5 EtherCAT
Cyclic Data Access
22 Lenze · Inverter i550 - Cabinet · Ethernet Manual · 0.1 EN · 12/2015
5.5 Cyclic Data Access
Process data are transmitted by means of EtherCAT datagrams via the process data channel.
General:
 The i500 is controlled by means of the process data.
 The transmission of process data is time-critical.
 Process data are transferred cyclically between the Controller (EtherCAT master) and the inverters
(slaves) (Continuous exchange of current input and output data).
 The master can directly access the process data. In the PLC for instance, the data are directly stored in the
I/O area.
 The max. length of the process data per direction is 32 bytes (8bit/byte)
 Process data are not saved in the i500.
 Content of the process data is defined with the mapping
 Process data are for instance setpoints, actual values, control words, and status words.
Configuration:
 All sync managers are configured for cyclic and mailbox communication. Configuration displayed in
0x1C00:1-4.
 For the communication the data configuration has to be set up. Use the assignment objects 0x1C12 and
0x1C13
 Basic setup for the sync manager is done in the objects 0x1C32 and 0x1C33
 For the assignment the available objects for configuration include velocity mode and free configuration are
used. Choose the mapping objects 0x1603 and 0x1A03 for the fixed setup velocity mode and the objects
0x1605 and 0x1A05 to select a dynamic mapping. The content can be chosen from all mappable objects.
RPDO:
P
0x1603:1
(vl) RPDO-->A: Object 1 (*)
i550
R
-- ... [0x60400010] ... --
Mapped to Control word CiA402 (0x6040)
P
0x1603:2
(vl) RPDO-->A: Object 2 (*)
i550
R
-- ... [0x60420010] ... --
Mapped to Target velocity CiA402 (0x6042)
P
0x1605:1-16
(User) RPDO-->A: Free config. Object 1-16
i550
-- ... [0] ... --
TPDO:
P
0x1A03:1
(vl) A-->TPDO: Object 1 (*)
i550
R
-- ... [0x60410010] ... --
Mapped to Status word CiA402 (0x6041)
P
0x1A03:2
(vl) A-->TPDO: Object 2 (*)
i550
R
-- ... [0x60440010] ... --
Mapped to Actual velocity CiA402 (0x6044)
P
0x1A03:3
(vl) A-->TPDO: Object 3 (*)
i550
R
-- ... [0x603F0010] ... --
Mapped to Error Code (0x603F)
P
0x1A05:1-16
(User) A-->TPDO: Free config. object 1-16
i550
-- ... [0] ... --