Lenze EtherCAT Controller-based Automation Manual do Utilizador descarregar pdf (Página 115)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 115

9 Function library L_IODrvEtherCAT.lib

9.2 CoE Interface

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

9.2 CoE Interface

The function blocks of the "CoE interface" (CAN over EtherCAT) allow objects on the EtherCAT

master and the EtherCAT slaves to be read and written.

The SDO read and write services are performed serially in the case of EtherCAT. In the Lenze R3.x

control technology (Controller-based Automation), a maximum of 100 services can be temporarily

stored for processing. If no more services can be accepted because the temporary storage buffer is

full, the value '7' is sent back as the error code.

9.2.1 Reading and writing parameters

Parameters ...

• for instance are set for one-time system settings or if materials are changed within a machine;

• are transmitted with a low priority.

In the case of Lenze inverters, the parameters to be changed are contained in codes or in the case of

the CANopen device profile "CiA402" as device profile objects.

Indexing of the Lenze codes

When they are accessed, the codes of the Lenze Controllers are addressed by the index.

The index for Lenze code numbers is in the manufacturer-specific area of the object directory

between 8192 (0x2000) and 24575 (0x5FFF).

Structure of a mailbox datagram

In a datagram, mailbox data are transferred within an EtherCAT frame. The data area of the mailbox

datagram has the following structure:

Conversion formula

Index [dec] Index [hex]

24575 - Lenze code 0x5FFF

- Lenze code [hex]

Example for C00002 (device commands)

Index [dec] Index [hex]

24575 - 2 = 24573 0x5FFF - 2 = 0x5FFD

Mailbox

header

CoE

header

SDO control

byte

Index Subindex Data Data

6 bytes 2 bytes 1 byte 2 bytes 1 byte 4 bytes 1...n bytes

1 2 ... 110 111 112 113 114 115 116 117 118 119 120 ... 204 205

Sem comentários

Lenze EtherCAT Controller-based Automation Manual do Utilizador Página 115