Bronkhorst EtherCAT Bedienungsanleitung PDF herunterladen (Seite 3)

BRONKHORST®

Table of contents

1 GENERAL PRODUCT INFORMATION ................................................................................................. 4

1.1 INTRODUCTION ................................................................................................................................................ 4

1.2 MULTIBUS TYPES .............................................................................................................................................. 4

1.2.1 References to other applicable documents ................................................................................................. 5

1.2.2 Manuals and user guides: ........................................................................................................................... 5

1.2.3 Technical Drawings: .................................................................................................................................... 5

1.2.4 Software tooling: ........................................................................................................................................ 5

1.3 SHORT FORM START-UP ..................................................................................................................................... 6

2 FUNDAMENTALS OF ETHERCAT ........................................................................................................ 7

2.1 ETHERCAT STATE MACHINE ............................................................................................................................... 8

3 INSTALLATION ................................................................................................................................. 9

3.1 INSTRUMENT OVERVIEW .................................................................................................................................... 9

3.2 PIN ASSIGNMENT ............................................................................................................................................. 9

3.3 CONNECTION CABLES .......................................................................................................................................10

3.4 ETHERCAT CONNECTION...................................................................................................................................10

3.5 ROUTING AND SHIELDING THE BUS CABLE ..............................................................................................................11

3.6 BUS TERMINATION ..........................................................................................................................................11

3.7 SECOND ADDRESS SETUP ...................................................................................................................................11

4 PROTOCOLS .................................................................................................................................. 12

4.1 CAN APPLICATION LAYER OVER ETHERCAT (COE) ..................................................................................................12

4.1.1 Object Dictionary ...................................................................................................................................... 12

4.1.1.1 Object Dictionary in device description file (ESI) ....................................................................................................12

4.1.1.2 Generated Object Dictionary ..................................................................................................................................13

4.2 PROCESS DATA (PDO) .....................................................................................................................................13

5 DEVICE PROFILE DS-404 SUPPORT .................................................................................................. 14

6 DIAGNOSTICS ................................................................................................................................ 15

6.1 ETHERCAT STATUS INDICATOR ...........................................................................................................................15

6.1.1 Run indicator ............................................................................................................................................. 15

6.1.2 Error indicator ........................................................................................................................................... 15

7 SERVICE ........................................................................................................................................ 16

APPENDIX A: OBJECT DICTIONARY ........................................................................................................ 17

APPENDIX B: SI UNIT AND PREFIX SPECIFICATION ................................................................................. 23

APPENDIX C: NON-SI UNIT SPECIFICATION ............................................................................................ 24

Page 3 EtherCAT interface 9.17.063

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