3
trapuls – EtherCAT® Fieldbus Interface
Contents
Content
CONTENTS............................................................................................................................................. 3
CHAPTER 1 - INTRODUCTION ............................................................................................................. 4
CHAPTER 2 - BASIC INFORMATION ABOUT ETHERCAT®.............................................................. 5
2.1 -MAIN ETHERCAT® SLAVE FUNCTIONS ............................................................................................ 5
2.2 -ETHERCAT® STATE MACHINE ....................................................................................................... 6
2.3 -ETHERCAT® FIELDBUS TOPOLOGY................................................................................................. 7
CHAPTER 3 - ELECTRICAL INSTALLATION....................................................................................... 8
3.1 -CONNECTORS................................................................................................................................. 8
3.1.1 "IN" connector: E3 (XtrapulsGem EtherCAT® extension board), X6 (XtrapulsPac) .............. 8
3.1.2 "OUT" connectors: E4 (XtrapulsGem EtherCAT® extension board), X7 (XtrapulsPac) ........ 8
3.2 -INDICATORS.................................................................................................................................... 8
3.2.1 - Link/Activity Indicators........................................................................................................... 8
3.2.2 - Run indicator.......................................................................................................................... 9
3.2.3 - Error indicator........................................................................................................................ 9
3.3 SLAVE ADDRESSING MODES .............................................................................................................. 9
CHAPTER 4 - SPECIFICATIONS OF THE SDOS AND PDOS FOR THE ETHERCAT® EXTENSION
BOARD.................................................................................................................................................. 10
4.1 -SDO............................................................................................................................................ 10
4.1.1 – Sync manager communication type.................................................................................... 10
4.1.2 – Sync manager channel 0 PDO assignment........................................................................ 11
4.1.3 – Sync manager channel 1 PDO assignment........................................................................ 11
4.1.4 – Sync manager channel 2 PDO assignment........................................................................ 12
4.1.5 – Sync manager channel 3 PDO assignment........................................................................ 12
4.1.6 – Synchronisation clock object .............................................................................................. 13
4.1.7 – Read access to the Fieldbus controller registers................................................................ 13
4.1.8 – RPDO watchdog time ......................................................................................................... 13
4.1.9 – Fieldbus Specific Error bits in the Error Code 1 object (0x3022)........................................ 14
4.1.10 – Fieldbus Specific warning bits in the warning code object (0x3024)................................ 14
4.2 -PDO PARTICULARITIES ................................................................................................................. 15
CHAPTER 5 - SYNCHRONISATION OF XTRAPULS ETHERCAT® SLAVES.................................. 16
SYNC TYPE 0: SYNCHRONISATION AND PROCESS DATA EXCHANGE DISABLED .......................................... 16
SYNC TYPE 1: SYNCHRONISATION DISABLED AND PROCESS DATA EXCHANGE ENABLED............................ 16
SYNC TYPE 2: SOFT SYNCHRONISATION ................................................................................................ 16
SYNC TYPE 4:HARD SYNCHRONISATION (STIFF) .................................................................................... 16
