Lenze EtherCAT Controller-based Automation Uživatelský manuál Strana 203
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Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17 203
Index
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
M
Mailbox datagram 115
Master 89
Max. number of Servo Drives 9400 HighLine per frame 35
Mixed operation - EtherCAT with other bus systems 106
Monitoring 160
N
Navigator 29
Network protocol 34
Network topology 34
Number of nodes 34
O
Optimising control (i700 servo inverter) 67
Optimising the system 162
Optimising the task utilisation 104
P
Parameter data (SDO) 35
Parameter download 45
Parameter management for i700 inverter drives 45
Parameter reference 196
PDO mapping for logic devices 100
Permissible EtherCAT cycle times 35
PLC settings 86, 90
Process data 96, 97
Process data words (PCD) for Servo Drives 9400 HighLine 35
Processing EtherCAT I/O mapping 95
Processing I/O mapping 95
Product codes for i700 servo inverter 27
Product codes for Inverter Drives 8400 27
Product codes for Servo Drives 9400 26
Product codes for the I/O system 1000 27
R
Reading parameters (SDO upload) 116
Representation in the online mode 163
Required hardware components 24
Restart of the EtherCAT fieldbus 159
Restart of the EtherCAT master 159
Runtime of the actual values 35
Runtime of the setpoints 35
S
Safety instructions 12, 13
Sample projects (Application Samples) 39
Screenshots 7
SDO abort codes 195
SDO download 120
SDO upload 116
Setting a DC synchronisation 87
Setting SoftMotion parameters 92
Setting the feedback system for servo control (i700 servo
inverter)
57
Settings of the EtherCAT master 104
Signal flow 67
Slave 98, 102
SoftMotion drive
Basic parameters
94
Scaling/Mapping 93
Software 29
Start parameters 103
Start parameters der Servo Drives 9400 HighLine CiA 402 103
Starting the PLC program 103
State diagram for commissioning 105
State machine 20
State Machine Interface (L_IODrvEtherCAT.library) 151
State machine of the Lenze control technology 30
Structure of the EtherCAT bus system 18
Structure of the messages in the logbook 170
Structure of the safety instructions 12
Synchronisation 34
Synchronisation with "Distributed clocks" (DC) 36
Synchronous communication 37
System error messages 183
System structure of the Controller-based Automation 14
T
Target group 7
Task configuration 82, 160
Technical data 34
Terms 10
Test of DC synchronicity 38
Total signal propagation delay for a cycle time of 1 ms 35
Type within the network 34
U
Upload 116
User data per frame 35
Using PDO mapping settings from »Engineer« 101
V
VISU_L_ETC_GetMasterDiagnostic 166
Visualisation of L_ETC_GetMasterDiagnostic 166
W
Working counter 23
Writing parameters (SDO download) 120
- Controller-based 1
- Automation 1
- Contents 2
- 1 About this documentation 10
- Pictograph and signal word! 12
- Danger! 13
- 1) In preparation 16
- ( 36) 17
- 4.1.2 Communication 19
- Operational 20
- Pre-Operational 20
- Safe-Operational 20
- 4.1.2.3 Working counter 23
- 4.2.1 Field devices 24
- 4.2.3 EtherCAT product codes 26
- 4.3 Lenze Engineering tools 29
- PLC State of the PLC 30
- 5Technical data 34
- ( 87) 36
- 6.1 Synchronous communication 37
- 6.2 Test of DC synchronicity 38
- »PLC Designer« online help 59
- 7 Commissioning of the system 100
- 8.1 CANopen and EtherCAT 107
- Drives 9400 108
- 8.3 EtherCAT and PROFINET 109
- • Error case: 113
- 9.2 CoE Interface 115
- ( 115) 120
- SDO Download Response 123
- 9.2.2 L_ETC_CoE_SdoRead (FB) 125
- Outputs (VAR_OUTPUT) 126
- 9.2.3 L_ETC_CoE_SdoRead4 (FB) 127
- Inputs (VAR_INPUT) 130
- 9.2.5 L_ETC_CoE_SdoWrite (FB) 131
- 9.3 Device Interface 137
- 9.3.1 ETCSlave (FB) 137
- 9.3.2 L_ETC_GetSlave (FUN) 138
- 9.3.3 L_ETC_IoControl (FUN) 139
- 9.3.4 L_IODrvEtherCAT (FB) 140
- 9.4 Diagnostic Interface 141
- 9.4.1 L_ETC_GetEmergency (FB) 141
- 9.4.4 L_ETC_ReadErrCnt (FB) 145
- 9.4.5 L_ETC_ResetErrCnt (FB) 146
- 9.5 FoE interface 147
- 9.5.1 L_ETC_FoE_Read (FB) 147
- 9.5.2 L_ETC_FoE_Write (FB) 149
- 9.6 State Machine Interface 151
- 9.7 Data types 155
- 9.7.1 L_ETC_COE_EMERGENCY 155
- 9.7.3 L_ETC_COE_FLAGS 155
- 9.7.4 L_ETC_DIAGNOSTIC 156
- 9.7.6 L_ETC_ERRORCODE 157
- 9.7.7 L_ETC_IOCTLOPARMS 157
- 9.7.8 L_ETC_LANGUAGE 157
- 9.7.9 L_ETC_SLAVE_PORTS 157
- ( 160); 160
- ( 162) 160
- How to optimise the system: 162
- 12 Diagnostics 163
- 13 Parameter reference 196
- )(('%$& 204
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