MICRO-EPSILON optoNCDT 2300 - Page 9

optoNCDT 2300
A 7 EtherCAT ...................................................................................................................................................... 149
A 7.1 Generall ........................................................................................................................................................ 149
A 7.2 Preamble ...................................................................................................................................................... 149
A 7.2.1 Structure of EtherCAT®-Frames ................................................................................................ 149
A 7.2.2 EtherCAT® Services ................................................................................................................... 150
A 7.2.3 Addressing and FMMUs ............................................................................................................. 150
A 7.2.4 Sync Manager ............................................................................................................................ 151
A 7.2.5 EtherCAT State Machine ............................................................................................................ 152
A 7.2.6 CANopen over EtherCAT............................................................................................................ 152
A 7.2.7 Process Data PDO Mapping ...................................................................................................... 153
A 7.2.8 Service Data SDO Service .......................................................................................................... 154
A 7.3 CoE – Object Directory ................................................................................................................................ 155
A 7.3.1 Characteristics ............................................................................................................................ 155
A 7.3.2 Communication Specific Standard Objects (CiA DS-301) ........................................................ 155
A 7.3.2.1 Object 1000h: Device type ........................................................................................ 156
A 7.3.2.2 Object 1001h: Error register...................................................................................... 156
A 7.3.2.3 Object 1003h: Predefined error field ......................................................................... 156
A 7.3.2.4 Object 1008h: Manufacturer device name ............................................................... 156
A 7.3.2.5 Object 1009h: Hardware version .............................................................................. 156
A 7.3.2.6 Object 100Ah: Software version ............................................................................... 157
A 7.3.2.7 Object 1018h: Device identification .......................................................................... 157
A 7.3.2.8 Object 1A00h: TxPDO Mapping ................................................................................ 157
A 7.3.2.9 Object 1A01 up to 1A63: TxPDO mapping ............................................................... 158
A 7.3.2.10 Object 1C00h: Synchronous manager type ............................................................. 158
A 7.3.2.11 Object 1C13h: TxPDO assign ................................................................................... 158
A 7.3.2.12 Object 1C33h: Synchronous parameter ................................................................... 159
A 7.3.3 Manufacturer Specific Objects ................................................................................................... 160
A 7.3.3.1 Object 2001h: User level ........................................................................................... 161
A 7.3.3.2 Object 2005h: Sensor informations (further) ............................................................ 161
A 7.3.3.3 Object 2010h: Loading/saving settings .................................................................... 162
A 7.3.3.4 Object 2050h: Advanced settings ............................................................................. 162
A 7.3.3.5 Object 2101h: Reset .................................................................................................. 162
A 7.3.3.6 Object 2105h: Factory settings ................................................................................. 163
A 7.3.3.7 Object 2131h: Light source ....................................................................................... 163
A 7.3.3.8 Object 2154h: Measuring program ........................................................................... 163
A 7.3.3.9 Object 2161h: Peak selection at distance measuring .............................................. 163
A 7.3.3.10 Object 2181h: Averaging, error processing, statistics and spike correction ........... 164
A 7.3.3.11 Object 21B0h: Digital interfaces, selection of transmitted data (measurements) .... 166