Lenze i55AE155F

9.10.7 Process data transfer
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Process data are cyclically transferred between the EtherCAT master and the slaves (per-
manent 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 are not saved in the device.
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Process data are, 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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Mapping objects for the CiA 402 operang mode "CiA: Velocity mode": 0x1603:001
and 0x1603:002 (RPDOs), 0x1A03:001 ... 0x1A03:003 (TPDOs)
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Mapping objects for a dynamic (free) assignment: 0x1605:001 ... 0x1605:016 (RPDOs),
0x1A05:001 ... 0x1A05:016 (TPDOs)
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The freely congurable mapping objects contain an 8 bit dummy entry (0x00050008). This
ensures that each object is transferred cyclically with 16 bits.
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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).
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
Expert sengs
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The sync managers are congured for the cyclic data transfer an the mailbox communica-
on (display in 0x1C00:001 ... 0x1C00:004).
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For the communicaon, the I/O data mapping must be congured via
0x1C12:000 ... 0x1C12:002 (for RPDOs) and 0x1C13:000 ... 0x1C13:002 (for TPDOs).
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The basic sengs for the sync managers are made via 0x1C32:001 ... 0x1C32:005 and
0x1C33:001 ... 0x1C33:005.
In the following, the EtherCAT objects are described (Mapping-Objekt-Index), that can be
assigned to process data.
The objects can only be accessed via the EtherCAT network.
Parameter Name / value 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 of CiA: Controlword (0x6040) for the CiA 402
operang mode "CiA: Velocity mode" (0x60400010).
0x1603:002 RPDO4 mapping parameter: Applicaon object 2
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Read only
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From version 02.00
Predened mapping entry of "CiA: Target velocity" für den "Velocity
Mode" (0x60420010).
Conguring the network
EtherCAT
Process data transfer
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