TR-Electronic MP-200 - Table of Contents; Contents

Printed in the Federal Republic of Germany  TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 3 of 153
Contents
Contents .............................................................................................................................................. 3
List of tables ....................................................................................................................................... 8
List of figures ...................................................................................................................................... 9
List of formulas ................................................................................................................................... 9
Revision index .................................................................................................................................... 10
1 General information ........................................................................................................................ 11
1.1 Target group ........................................................................................................................... 11
1.2 Applicability ............................................................................................................................. 11
1.3 References .............................................................................................................................. 12
1.4 Abbreviations used / Terminology .......................................................................................... 13
2 Additional safety instructions ........................................................................................................ 15
2.1 Definition of symbols and instructions .................................................................................... 15
2.2 Organizational measures ........................................................................................................ 15
3 Technical data .................................................................................................................................. 16
3.1 Current firmware versions ....................................................................................................... 16
3.2 Electrical characteristics ......................................................................................................... 16
3.3 EtherCAT / DS-402 ................................................................................................................. 17
3.4 CE Conformity......................................................................................................................... 18
4 EtherCAT Information ..................................................................................................................... 19
4.1 EtherCAT functional principle ................................................................................................. 19
4.2 Protocol ................................................................................................................................... 20
4.3 EtherCAT State Machine (ESM) ............................................................................................. 21
4.3.1 Transition into the OPERATIONAL state ................................................................ 22
4.4 Device profile .......................................................................................................................... 23
4.4.1 CANopen over EtherCAT (CoE) ............................................................................. 24
4.5 Object dictionary ..................................................................................................................... 25
4.6 Process and Service Data Objects ......................................................................................... 25
4.6.1 Compatibility with the CiA DS-301 communication profile ...................................... 26
4.7 Transmission of SDO messages ............................................................................................ 27
4.8 PDO mapping ......................................................................................................................... 29
4.9 Further information ................................................................................................................. 29
5 DSP 402 drive profile ....................................................................................................................... 30
5.1 DSP 402 state machine .......................................................................................................... 31