Lenze i950

16.2.3 Process data transfer
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Pr
ocess 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-
CA
T 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.
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Conguraon
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The a
vailable objects can be mapped in the CiA 402
operang mode " CiA: Velocity mode
" (0x6060 = 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 ^ 341
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Mapping objects for a dynamic (free) assignment: 4Dynamic (free) conguraon ^ 341
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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).
16.2.3.1 Standard mapping
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Standard mapping of the RPDOs in the CiA 402 operang mode " CiA: Velocity mode "
Master à sla
ve
RPDO mapping entry 1 ( CiA: Velocity mode ) CiA: Controlword (0x6040)
RPDO mapping entry 2 ( CiA: Velocity mode ) CiA 402 parameter " Target velocity " (0x6042)
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 mas
ter
TPDO mapping entry 1 ( CiA: Velocity mode ) CiA: Statusword (0x6041)
TPDO mapping entry 2 ( CiA: Velocity mode ) CiA 402 parameter " Velocity actual value " (0x6044)
TPDO mapping entry 3 ( CiA: Velocity mode ) Error code (0x603F)
TPDO mapping entry 1 (freely congurable) Digital inputs
16.2.3.2 Dynamic (free)
conguraon
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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.
16.2.3.3 Further communicaon objects
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The parameters for the implemented EtherCAT objects are described below.
16.2.3.4 Expert sengs
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The s
ync managers are congured for the cyclic data transfer and the mailbox communica-
on (display in ... ).
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F
or the communicaon, the I/O data mapping must be congured via ... (for RPDOs) and
... (for TPDOs).
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The basic sengs for the sync managers are made via ... and ... .
Conguring the network
E
therCAT
Process data transfer
341