Inhaltsverzeichnis
10.2
Kommunikationsprotokolle ................................................................................................................................... 54
10.2.1
10.2.2
10.2.3
10.3
Kommunikationsobjekte........................................................................................................................................ 58
10.3.1
10.3.2
10.3.3
10.4
EtherCAT State Machine ........................................................................................................................................ 61
10.5
Synchronisation ..................................................................................................................................................... 63
10.5.1
10.5.2
10.6
Modulare ESI-Dateien ............................................................................................................................................ 73
10.6.1
10.6.2
11 Anhang.................................................................................................................................................................... 75
11.1
11.1.1
11.1.2
11.1.3
11.1.4
11.2
SDO-Übertragung: Fehler-Codes............................................................................................................................ 81
11.3
11.4
11.5
Weiterführende Informationen ............................................................................................................................. 85
11.6
Abkürzungen .......................................................................................................................................................... 86
12 Kontakt ................................................................................................................................................................... 87
12.1
Beratung, Service, Anschrift................................................................................................................................... 87
12.2
Ihre Meinung ist uns wichtig.................................................................................................................................. 87
12.3
Weltweite Kundennähe ......................................................................................................................................... 88
Glossar .................................................................................................................................................................... 89
Abbildungsverzeichnis............................................................................................................................................. 91
Tabellenverzeichnis ................................................................................................................................................. 92
iv
CoE: CANopen over EtherCAT............................................................................................................... 54
EoE: Ethernet over EtherCAT ................................................................................................................ 54
PDO: Process Data Objects ................................................................................................................... 58
SDO: Service Data Objects .................................................................................................................... 58
EMCY: Emergency Objects.................................................................................................................... 60
Modulare ESI-Datei erweitern .............................................................................................................. 73
Modul aus ESI-Datei löschen ................................................................................................................ 74
STÖBER