Inhaltsverzeichnis
Werbung
5.1
Bediensoftware VPlus ...................................................................................... 22
6
Montage/Demontage des Kommunikationsmoduls .................................................... 23
6.1
Montage ............................................................................................................ 23
6.2
Demontage ....................................................................................................... 24
7
Steckerbelegung .......................................................................................................... 25
8
RUN-LED ....................................................................................................................... 25
9
Leitungslängen ............................................................................................................. 26
9.1
Einstellung Knotenadresse ............................................................................... 26
10 Betriebsverhalten bei Ausfall Busverbindung .............................................................. 26
®
Überblick .................................................................................................... 27
11.1
Communication objects (Kommunikationsobjekte) ........................................ 27
11.2
Application objects (Anwendungsobjekte) ...................................................... 27
11.3
Funktion SDO .................................................................................................... 27
11.3.1 Tabelle der Fehlercodes .............................................................................................27
11.4
Funktion PDO ................................................................................................... 28
11.5
Funktion Emergency (Fehlernachricht) ............................................................ 28
11.6
Synchronisation (Distributed Clocks) .............................................................. 28
11.7
Funktionen NMT ............................................................................................... 29
11.7.1 NMT Statemachine ....................................................................................................29
11.8
OS Synchronisation .......................................................................................... 30
11.9
Fehler-Reset ..................................................................................................... 31
12 Objekte ......................................................................................................................... 32
12.1
Tabellarische Objektübersicht ......................................................................... 32
12.1.1 Kommunikationsobjekte (communication objects) .......................................................32
12.1.2 Herstellerobjekte (manufacturer objects) ....................................................................34
12.1.3 Geräteprofil-Objekte (device profile objects) ...............................................................34
12.2
Kommunikationsobjekte (0x1nnn) .................................................................. 38
12.2.1 0x1000/0 Device Type (Gerätetyp) .............................................................................38
12.2.2 0x1001/0 Error Register (Fehlerregister) .....................................................................39
12.2.3 0x1008/0 Manufacturer Device Name (Hersteller-Gerätebezeichnung) ..........................39
12.2.4 0x1009/0 Manufacturer Hardware Version (Hersteller-Hardwareversion) .......................39
12.2.5 0x100A/0 Manufacturer Software Version (Hersteller-Softwareversion) .........................40
12.2.6 0x1010/n Store Parameters (Parameter speichern) ......................................................40
12.2.8 0x1018/n Identity Object (Gerätehersteller und Gerät) ................................................41
12.2.9 0x1600/n, 0x1601/n, 0x1602/n, RxPDO Mapping Parameter ........................................42
12.2.10 0x1A00/n, 0x1A01/n, 0x1A02/n, TxPDO Mapping Parameter ........................................43
12.3
12.3.1 Handhabung der Datensätze/zyklisches Schreiben der Parameter .................................44
12.3.2 Handhabung von Index-Parametern/zyklisches Schreiben ............................................45
12.3.2.1
Beispiel zum Lesen von Index-Parametern .......................................................... 46
12.4
Manufacturer objects (0x3000 ... 0x5FFF) (Herstellerobjekte) ....................... 46
4
AgilE_EtherCAT
10/13
Werbung
Inhaltsverzeichnis
