PDO Process data objects

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PDO Process data objects

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RxPDO Output mappings

The EtherCAT process data mapping is done automatically corresponding to the following list and respectively to the sync manager information.

Mapping object

Mapping content

0x1600

SINT32

SINT32

SINT32

SINT32

SINT8

UINT16

FLOAT

Target Pressure

Target Position

Pressure Input Digital Sensor 1

Pressure Input Digital Sensor 2

Control Mode

General Control Setpoint

Pressure Ramp Time

0x1601

(default)

FLOAT

FLOAT

FLOAT

FLOAT

SINT8

UINT16

FLOAT

Target Pressure

Target Position

Pressure Input Digital Sensor 1

Pressure Input Digital Sensor 2

Control Mode

General Control Setpoint

Pressure Ramp Time

0x1602

SINT32

SINT32

SINT32

SINT32

SINT8

UINT16

Target Pressure

Target Position

Pressure Input Digital Sensor 1

Pressure Input Digital Sensor 2

Control Mode

General Control Setpoint

0x1603

FLOAT

FLOAT

FLOAT

FLOAT

SINT8

UINT16

Target Pressure

Target Position

Pressure Input Digital Sensor 1

Pressure Input Digital Sensor 2

Control Mode

General Control Setpoint

0x1604

SINT32

SINT8

UINT16

Target Position

Control Mode

General Control Setpoint

0x1605

FLOAT

SINT8

UINT16

Target Position

Control Mode

General Control Setpoint

0x16FF

 

Configurable mapping object

Name

Byte

Range

Description

TARGET PRESSURE

4

Value in mBar

Adjustable1)

Setpoint value for

CONTROL MODE Pressure (5)

TARGET POSITION

4

0..100

Adjustable1)

Setpoint value for

CONTROL MODE Position (2)

PRESSURE INPUT

DIGITAL SENSOR 1

4

Value in mBar

Adjustable1)

Pressure from digital sensor

(Sensor with EtherCAT Interface)

PRESSURE INPUT

DIGITAL SENSOR 2

4

Value in mBar

Adjustable1)

Pressure from digital sensor

(Sensor with EtherCAT Interface)

CONTROL MODE

1

2…7

1 = Homing

2 = Position control

3 = Close

4 = Open

5 = Pressure control

6 = Hold

7 = Learn

GENERAL CONTROL SETPOINT

2

-

See bitmap table below

PRESSURE RAMP TIME

1

0…10E6

Time in ms

1)To adjust range refer to chapter: «EtherCAT scaling»

 

 

GENERAL CONTROL SETPOINT bitmap table:

Bit

Description

0

ZERO ADJUST

Starts the zeroing of the sensors

1

NOT USED (reserved)

-

2

PING PONG TX BIT

Handshake mechanism

Valve sends the inverted value of this bit in INPUT BUFFER à GENERAL STATUS à PING PONG RX BIT

3

NOT USED (reserved)

-

4

ACCESS MODE LOCKED

Defines which interface, remote (EtherCAT) or service (CPA), can control the valve.

Access Mode

Control Permission

Comment

Local

CPA

 

Remote

EtherCAT Master

CPA can switch to Local

Locked

EtherCAT Master

CPA can’t switch to Local

If bit is set to 1 than the Access Mode = Locked

It bit changes from 1 to 0 than the Access Mode changes to Remote

Whether CPA has switched the Access Mode to Local can be seen in the Input Buffer:

GENERAL STATUS à ACCESS MODE

EXTENDED WARNING à REMOTE CONTROL NOT POSSIBLE

Overview:

From

To

ACCESS MODE LOCKED bit

local or remote

locked

0 à 1

locked

remote

1 à 0

local

remote

0 à 1 à 0

5-15

NOT USED (reserved)

-

 

TxPDO Input mappings

The EtherCAT process data mapping is done automatically corresponding to the following list and respectively to the sync manager information.

Mapping object

Mapping

content

0x1A00

SINT32

SINT32

SINT32

SINT32

SINT8

UINT16

UINT16

UINT16

UINT32

Actual Pressure

Pressure Sensor 1

Pressure Sensor 2

Actual Position

Control Mode

Error Number

General Status

General Warnings

Extended Warnings

0x1A01

(default)

FLOAT

FLOAT

FLOAT

FLOAT

SINT8

UINT16

UINT16

UINT16

UINT32

Actual Pressure

Pressure Sensor 1

Pressure Sensor 2

Actual Position

Control Mode

Error Number

General Status

General Warnings

Extended Warnings

0x1A02

SINT32

SINT8

UINT16

UINT16

UINT16

UINT32

Actual Position

Control Mode

Error Number

General Status

General Warnings

Extended Warnings

0x1A03

FLOAT

SINT8

UINT16

UINT16

UINT16

UINT32

Actual Position

Control Mode

Error Number

General Status

General Warnings

Extended Warnings

0x1AFF

 

Configurable mapping object

Name

Byte

Range

Description

ACTUAL PRESSURE

4

Value in mBar

adjustable1)

 

PRESSURE SENSOR 1

4

Value in mBar

adjustable1)

 

PRESSURE SENSOR 2

4

Value in mBar

adjustable1)

 

ACTUAL POSITION

4

0…100

adjustable1)

Note: 0 do not mean that the valve is sealed (if sealing functionality is available). For this refer to the bit SEALING STATE in General Status.

CONTROL MODE

1

0…14

0 = init

1 = homing

2 = position

3 = close

4 = open

5 = pressure

6 = hold

7 = learn

8 = interlock open

9 = interlock close

12 = power failure

13 = safety

14 = fatal error

ERROR NUMBER

2

200…888

Refer to chapter «Errors»

GENERAL STATUS

2

 

See bitmap table below

GENERAL WARNING

2

 

See bitmap table below

EXTENDED WARNING

2

 

See bitmap table below

1)To adjust range refer to chapter: «Scaling of pressure and position values»

 

GENERAL STATUS bitmap table:

Bit

Description

0

FIELDBUS DATA VALID

0 =

Valve is not in the EtherCAT state OPERATIONAL or the process data output watchdog. (SyncManager2) is disabled

1 =

Valve is in the EtherCAT state OPERATIONAL and the process data output watchdog (SyncManager2) is enabled

1

ZERO ADJUST EXECUTED

ZERO ADJUST successful executed, active for 2 seconds

2

PING PONG RX-BIT

Handshake mechanism

Is the inverted PING PONG TX-BIT from OUTPUTBUFFER à GENERAL CONTROL SETPOINT

3

PRESSURE SIMULATION

1 = Internal pressure simulation active

4

TARGET PRESSURE REACHED

1 = The actual pressure is within 2% of the pressure setpoint

5-6

NOT USED (reserved)

-

7-8

ACCESS MODE

bit 8

bit 7

 

0

0

=    LOCAL

0

1

=    REMOTE

1

0

=    LOCKED

9

WARNINGS ACTIVE

1 = At least one WARNING of the warning bitmaps is active (GENERAL WARNING bitmap and EXTENDED WARNING bitmap)

10

SEALING STATE

1 = valve is sealed, only valid if a sealing functionality is available

11

INTERLOCK ACTIVE

1 = an interlock input is active

12-15

NOT USED (reserved)

-

 

GENERAL WARNING bitmap table:

Bit

Description

0

NOT USED (reserved)

-

1

LEARN DATA SET

Learn data not present. Learn required for adaptive pressure control.

Just active if adaptive pressure control algorithm is choosen.

2

NOT USED (reserved)

-

3

POWER FAILURE BATTERY

Not ready, voltage too low.

Just active if power failure is available.

4-5

NOT USED (reserved)

-

6

FAN STALL ALARM

Just available when fan provides a stall alarm

47-15

NOT USED (reserved)

-

 

EXTENDED WARNING bitmap table:

Bit

Description

0

REMOTE CONTROL NOT POSSIBLE

Remote control not possible, access mode local is active, change to access mode remote or access mode locked

1

ACTUAL CONTROL MODE SETPOINT NOT ALLOWED

Not possible to switch the actual control mode to CONTROL MODE SETPOINT

Control mode is interlock or fatal error

CONTROL MODE SETPOINT is 5 (pressure) or 7 (learn) and no sensor is selected (sensor mode configuration)

2

ZERO DISABLED

Using zero function not possible

3

PFO DEACTIVATED

Power Failure Option is deactivated

4

NOT USED (reserved)

-

5

OUT OF RANGE: PRESSURE SETPOINT

Value of PRESSURE SETPOINT is out of range

6

OUT OF RANGE: POSITION SETPOINT

Value of POSITION SETPOINT is out of range

7-9

NOT USED (reserved)

-

10

OUT OF RANGE: CONTROL MODE SETPOINT

Value of CONTROL MODE SETPOINT is out of range

11

OUT OF RANGE: GENERAL CONTROL SETPOINT

Value of GENERAL CONTROL SETPOINT is out of range

12-15

NOT USED (reserved)

-

 

Ping Pong

With the Ping pong mechanism the master can verify that the slave has read the PDO buffer content sent by the master.

 

Principle:

Master sets the Ping pong bit in the object “General Control Setpoint”. When the slave receives the value of “General Control Setpoint”, the slave will invert this Ping pong bit and put it into ping pong of “General Status”

 

Example:

The master wants to have a confirmation that the slave has received a new value of “Target Position”:

1.Master sets “Target Position” to 123 and set Ping pong bit of “General Control Setpoint” to 0

2.Master waits till Ping pong bit of “General Status” has changed to 1 à This is the confirmation, that the PDO telegram with the new “Target Position” was received by the slave

 

PingPong