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Manual – Fieldbus Interface DFE24B EtherCAT®
8
EtherCAT
®
master settings
Motion Control via EtherCAT
®
8.3.1 Velocity mode settings
• The speed setpoint is written directly to system variable H499 via the configured
PDO2 and is scaled as follows:
–1 digit Ⳏ 0.2 rpm, that is, a value of 5000 Ⳏ rpm
The parameters used in the controller must be scaled before they are transferred to
the inverter.
• The control word is transferred via PDO1 together with the speed setpoint in PDO2.
• The position that is transferred to the controller is read directly from system variable
H511 via the configurable PDO2. The position is scaled as follows:
– 4096 digits represent one revolution
The position that is read in must then be scaled to the parameters used in the con-
troller.
• The status word is transferred via PI1 together with the actual position value in
PDO2.
8.3.2 Position mode settings
• The position setpoint is written directly to system variable H499 via the configured
PDO2 and is scaled as follows:
– 1 motor revolution Ⳏ 2
16
The parameters used in the controller must be scaled accordingly before they are
transferred to the inverter.
• The control word can be transferred as follows:
– Via PO1 together with the position setpoint in PDO2
– Directly to a system variable in IPOS
plus®
if the status machine has to be opti-
mized. The application-specific adjustment of the status machine is then exe-
cuted as an IPOS
plus®
program or as a PLC program in the motion controller.
• The position that is transferred to the controller is read directly from system variable
H508 via the configurable PDO2. The position is scaled as follows:
– 1 motor revolution Ⳏ 2
16
The position that is read in must then be scaled to the parameters used in the con-
troller.
• The status word can either be transferred via PI1 together with the position setpoint
in PDO2, or - if the status machine is adapted for a particular application in IPOS
plus®
- read in directly from a system variable in IPOS
plus®
.
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