Contents
Printed in the Federal Republic of Germany © TR-Electronic GmbH 2008, All Rights Reserved
11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 63 of 119
Contents
Contents .............................................................................................................................................. 63
Revision index .................................................................................................................................... 65
1 General information ........................................................................................................................ 66
1.1 Applicability............................................................................................................................. 66
1.2 References ............................................................................................................................. 67
1.3 Abbreviations used / Terminology .......................................................................................... 68
2 Additional Safety Instructions ....................................................................................................... 69
2.1 Definition of symbols and notes.............................................................................................. 69
2.2 Additional instructions for proper use ..................................................................................... 69
2.3 Organizational measures........................................................................................................ 70
3 Technical Data ................................................................................................................................. 71
3.1 Electrical characteristics ......................................................................................................... 71
4 EtherCAT Information ..................................................................................................................... 72
4.1 EtherCAT functional principle ................................................................................................. 72
4.2 Protocol................................................................................................................................... 73
4.3 Distributed clocks.................................................................................................................... 73
4.4 Device profile .......................................................................................................................... 74
4.4.1 CANopen over EtherCAT (CoE)............................................................................. 75
4.5 Object dictionary ..................................................................................................................... 76
4.6 Process and Service Data Objects......................................................................................... 76
4.6.1 Compatibility with the CiA DS-301 communication profile ..................................... 77
4.6.2 Extensions to the CiA DS-301 communication profile............................................ 77
4.7 Transmission of SDO messages............................................................................................ 78
4.7.1 CANopen over EtherCAT protocol.......................................................................... 80
4.7.1.1 Initiate SDO Download Expedited Request .............................................................................. 80
4.7.1.2 Initiate SDO Download Expedited Response............................................................................ 81
4.7.1.3 Initiate SDO Upload Expedited Request ...................................................................................82
4.7.1.4 Initiate SDO Upload Expedited Response ................................................................................ 83
4.8 PDO mapping ......................................................................................................................... 84
4.9 EtherCAT State Machine (ESM)............................................................................................. 84
4.10 Further information ............................................................................................................... 85
5 Installation / Preparation for Commissioning .............................................................................. 86
5.1 Connection.............................................................................................................................. 87
5.2 Switching on the supply voltage .............................................................................................88
To Next Page
Loading...
