Switch User Manual
Table Of Contents
- Contents
- 1 Safety Information
- 2 Introduction
- 3 Mechanical Installation
- 4 Electrical Installation
- 5 Getting Started
- 6 Protocols
- 7 Drive profile (DSP-402) support
- 7.1 0x6040 Controlword
- 7.2 0x6041 Statusword
- 7.3 Common profile features
- 7.3.1 Sequencing control
- 7.3.2 0x605A Quick stop option code
- 7.3.3 0x605B Shutdown_option_code
- 7.3.4 0x605C Disable_operation_option_code
- 7.3.5 0x605E Fault_reaction_option_code
- 7.3.6 0x6060 Modes_of_operation
- 7.3.7 0x6061 Modes_of_operation_display
- 7.3.8 0x6085 Quick_stop_deceleration
- 7.3.9 Profile units
- 7.3.10 0x608F Position_encoder_resolution
- 7.3.11 0x6091 Gear_ratio
- 7.3.12 0x6092 Feed_constant
- 7.3.13 Basic position control
- 7.3.14 0x6062 Position_demand_value
- 7.3.15 0x6064 Position_actual_value
- 7.3.16 0x60F4 Following_error_actual_value
- 7.3.17 0x60FB Position_control_parameter_set object
- 7.4 Interpolated position mode
- 7.5 vl velocity mode
- 7.5.1 0x6042 vl_target_velocity
- 7.5.2 0x6043 vl_velocity_demand
- 7.5.3 0x6044 vl_velocity_actual_value
- 7.5.4 0x6046 vl_velocity_min_max_amount
- 7.5.5 0x6047 vl_velocity_min_max
- 7.5.6 0x6048 vl_velocity_acceleration
- 7.5.7 0x6049 vl_velocity_deceleration
- 7.5.8 0x604A vl_velocity_quick_stop
- 7.5.9 0x604B vl_setpoint_factor
- 7.5.10 0x604C vl_dimension_factor
- 7.6 Profile Torque mode
- 7.7 Homing Mode
- 8 Advanced features
- 9 Diagnostics
- 9.1 Module identification parameters
- 9.2 Network configuration objects
- 9.3 Diagnostic parameters
- 9.4 Drive trip display codes
- 9.5 SM-EtherCAT module temperature
- 9.6 SM-EtherCAT serial number
- 9.7 SM-EtherCAT error codes
- 9.8 Critical task % free
- 9.9 Worst case critical task % free
- 9.10 FLASH file system % free
- 9.11 Updating SM-EtherCAT firmware
- 10 Quick Reference
- 11 Glossary Of Terms
- Index
SM-EtherCAT User Guide 19
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting Started
Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
6 Protocols
6.1 CANopen over EtherCAT (CoE)
The CoE protocol over EtherCAT uses a modified form of the CANopen object
dictionary. This is specified in
Table 6.1:
The object description format describes object related information such as size, range
and descriptions and is detailed in
Table 6.2:
For entries having sub-indices:
Table 6.1 CoE object dictionary
Index Object dictionary area
0x0000 to 0x0FFF Data type area
0x1000 to 0x1FFF CoE communication area
0x2000 to 0x5FFF Manufacturer specific area
0x6000 to 0x9FFF Profile area
0xA000 to 0xFFFF Reserved area
Table 6.2 Object description format
<index> <object name>
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
Table 6.3 Object description format with sub-indices
<index> <object name>
Sub-index 0
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
Sub-index 1
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
...
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
Sub-index n-1
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
Sub-index n
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>