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Contents
Contents .............................................................................................................................................. 75
Revision index .................................................................................................................................... 78
1 General information ........................................................................................................................ 79
1.1 Applicability ............................................................................................................................. 79
1.2 References .............................................................................................................................. 80
1.3 Abbreviations used / Terminology .......................................................................................... 81
2 Additional Safety Instructions ....................................................................................................... 82
2.1 Definition of symbols and notes .............................................................................................. 82
2.2 Additional instructions for proper use ..................................................................................... 82
3 EtherCAT Information ..................................................................................................................... 83
3.1 EtherCAT functional principle ................................................................................................. 83
3.2 Object dictionary ..................................................................................................................... 84
3.3 Process and Service Data Objects ......................................................................................... 84
3.4 PDO mapping ......................................................................................................................... 85
3.5 EtherCAT State Machine (ESM) ............................................................................................. 85
3.6 Further information ................................................................................................................. 86
4 Installation / Preparation for Commissioning............................................................................... 87
4.1 Connection .............................................................................................................................. 88
4.2 Switching on the supply voltage ............................................................................................. 89
5 Commissioning ................................................................................................................................ 90
5.1 Device description file ............................................................................................................. 90
5.2 Bus status display ................................................................................................................... 90
6 Operating Modes ............................................................................................................................. 91
7 Communication-Specific Standard Objects (CiA DS-301) .......................................................... 92
7.1 Object 1000h: Device type ...................................................................................................... 93
7.2 Object 1001h: Error register ................................................................................................... 93
7.3 Object 1008h: Manufacturer device name .............................................................................. 94
7.4 Object 1009h: Manufacturer hardware version ...................................................................... 94
7.5 Object 100Ah: Manufacturer software version ....................................................................... 94
7.6 Object 1010h: Store Parameters ............................................................................................ 95
7.7 Object 1011h: Restore default parameter values ................................................................... 97
7.8 Object 1018h: Identity object .................................................................................................. 98
Printed in the Federal Republic of Germany
06/20/2017
TR - ECE - BA - DGB - 0127 - 04
TR-Electronic GmbH 2016, All Rights Reserved
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