SEW-Eurodrive MFP Series - Page 72

8
Project planning
Configuring the EtherCAT® master for MOVIMOT® with XML file
Manual – EtherCAT
®
Interfaces, Field Distributors
72
INFORMATION
Results
• Either 4 or 10 process data words can be transmitted in each direction. If, for ex-
ample, PDO OutputData1 (standard 10 PO) is used, PDO InputData1 (standard
10 PI) must be used as well.
• Both input PDO or both output PDO may not be activated at the same time.
List of possible process data objects (PDO) for the MFE72 EtherCAT
®
interface
Index Size Name Mapping Sync Man-
ager
Sync Unit
1600hex
(5632dec)
8bytes OutputData1 (standard 4 PO) Fixed con-
tent
2 0
1601hex
(5633dec)
20 bytes OutputData1 (Standard 10 PO) Fixed con-
tent
2 0
1A00hex
(6656dec)
8bytes InputData1 (standard 4 PI) Fixed con-
tent
3 0
1A01hex
(6657dec)
20 bytes InputData1 (standard 10 PI) Fixed con-
tent
3 0
Example: Static PDO for 10 cyclic process data words
PO1 MOVIMOT
®
control word1
PO2 MOVIMOT
®
speed
PO3 MOVIMOT
®
ramp (only if DIP switch S1/2 = "OFF")
PO4 DO0 - DO1 setpoint
PO5 Module control word
PO6 Reserved
PO7 Reserved
PO8 Reserved
PO9 Reserved
PO10 Reserved
The process output data transported with OutputData1 is assigned according to this
table. The process output data PO1 - PO3 can be connected with various process
data (control words, setpoints) using the process data parameterization in the
MOVIMOT
®
inverter. For further information, refer to the chapter "MOVILINK
®
device
profile"(→292).
You can control the switching signals for actuators DO0 – DO1 with process output
data PO4, bit 0–bit 1. The following table shows the assignment of the module con-
trol word for process output data PO5:
Bit Assignment
0 Reset encoder input
Encoder value PI7/PI0 is set to "0" when Bit 0 experiences a rising edge.
25809148/EN – 01/2019