Interface EtherCAT

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Interface EtherCAT

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To use this sequencer functionality over EtherCAT a special firmware is required as well a specific ESI File to have all sequencer objects available in offline mode.

 

Sequencer Configurable PDO mapping

User can add additional objects to PDO Output mapping 0x16FF and the Input PDO mapping 0x1AFF.

 

How to create Input & Output mapping with EC-Engineer

To add the PDO parameters for the Sequencer in addition to the standard buffer (0x1601) in the configurable PDO buffer (0x16FF) following steps are necessary:

Mapping object

Mapping content

Index

Sub-Index

Note

0x16FF

 

 

 

SINT

UDINT

REAL

UINT

Starting Command

Target Cycles

Target Time

Controlword Bitmap

0x2D00

0x2D00

0x2D00

0x2D00

3

5

6

10

 

See Note below*

See Note below*

Bit0:Run, Bit1:Stop, Bit2:Reset Cycle Counter

0x1AFF

UDINT

SINT

REAL

REAL

SINT

Cycle Counter

Current Command

Cycle Time

Running Time

State

0x2D00

0x2D00

0x2D00

0x2D00

0x2D00

7

4

8

9

2

 

 

Optional

Optional

 

 

*The Objects Target Cycles and Target Time are there to limit the Sequence. If both Objects are set to ZeSro this means that the Sequence will run until the user will set the Parameter/Object ‘Run’ to ‘False’. If both Objects are set e.g. Target Cycles=3, Target Time=10 then the sequence will run until the lower limit of these two Objects are reached.

 

In EC engineer the mapping the configuration is done in Configuration Mode

Select output buffer 0x16FF “Outputs User 1” and click “Edit” button

 

ECEngineer_PDOMapping

 

Press “Add” to add a new object:

AddElementConfigurablePDO

 

Now the User should enter the settings – e.g.:

Name:                ‘Starting Command’

Index:                ‘0x2D00’

Sub-Index:        ‘3’

Datatype:        SINT à If a Datatype is selected, the Bit Length will be adapted automatically by the program EC-Engineer.

 

After all settings are Edit – the user can press OK.

 

EditConfigurablePDO

 

AddEntryConfigurableMapping

 

After pressing OK, the user should see the new Added Object. (Red Arrow)

 

Press again “Add” and edit the other 3 PDO output objects (Target Cycles, Target Time, Controlword Bitmap) to the PDO output buffer 0x16FF.

AddConfigurablePDOMapping

 

Change in Diagnose Mode and change state to OP

oNow this parameters are visible under Variables

OPInDiagnoseMode

 

 

The PDO Input buffer(0x1AFF) can be Added in the same way.

 

InputPDOConfigurableMapping

 

It is possible to select also Standard PDOmappings to ‘Variables’ and use them. In the picture bellow e.g. Target Position, Control Mode and General Control Setpoint.

 

AddStandardPDOMapping

At the End - Save master project to load this configuration on another device.