TR-Electronic CEV-58 - Deutsch; Inhaltsverzeichnis; Table of Contents

Inhaltsverzeichnis
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11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 3 of 119
Inhaltsverzeichnis
Inhaltsverzeichnis .............................................................................................................................. 3
Änderungs-Index................................................................................................................................ 5
1 Allgemeines ..................................................................................................................................... 6
1.1 Geltungsbereich...................................................................................................................... 6
1.2 Referenzen ............................................................................................................................. 7
1.3 Verwendete Abkürzungen / Begriffe....................................................................................... 8
2 Zusätzliche Sicherheitshinweise ................................................................................................... 9
2.1 Symbol- und Hinweis-Definition..............................................................................................9
2.2 Ergänzende Hinweise zur bestimmungsgemäßen Verwendung ........................................... 9
2.3 Organisatorische Maßnahmen ............................................................................................... 10
3 Technische Daten............................................................................................................................ 11
3.1 Elektrische Kenndaten............................................................................................................ 11
4 EtherCAT Informationen................................................................................................................. 12
4.1 EtherCAT-Funktionsprinzip .................................................................................................... 12
4.2 Protokoll.................................................................................................................................. 13
4.3 Verteilte Uhren........................................................................................................................ 13
4.4 Geräteprofil ............................................................................................................................. 14
4.4.1 CANopen over EtherCAT (CoE)............................................................................. 15
4.5 Objektverzeichnis ................................................................................................................... 16
4.6 Prozess- und Service-Daten-Objekte..................................................................................... 16
4.6.1 Kompatibilität zum CiA DS-301 Kommunikationsprofil........................................... 17
4.6.2 Erweiterungen zum CiA DS-301 Kommunikationsprofil ......................................... 17
4.7 Übertragung von SDO Nachrichten........................................................................................ 18
4.7.1 CANopen over EtherCAT Protokoll ........................................................................ 20
4.7.1.1 Initiate SDO Download Expedited Request .............................................................................. 20
4.7.1.2 Initiate SDO Download Expedited Response............................................................................ 21
4.7.1.3 Initiate SDO Upload Expedited Request ...................................................................................22
4.7.1.4 Initiate SDO Upload Expedited Response ................................................................................ 23
4.8 PDO-Mapping ......................................................................................................................... 24
4.9 EtherCAT State Machine (ESM)............................................................................................. 24
4.10 Weitere Informationen .......................................................................................................... 25
5 Installation / Inbetriebnahmevorbereitung ................................................................................... 26
5.1 Anschluss ............................................................................................................................... 27
5.2 Einschalten der Versorgungsspannung ................................................................................. 28