Lenze E84AYCET EtherCAT MCI module Instrukcja Użytkownika Pobierz pdf (Strona 79)

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17 79

9 Parameter data transfer

9.3 Implemented CoE objects

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

9.3 Implemented CoE objects

Lenze devices can be parameterised with both Lenze codes and the manufacturer-independent "CoE

objects". In order to fully comply with EtherCAT communication, you must only use the CoE objects

for parameterisation. The CoE objects described in this manual are defined in the "EtherCAT

Specification, Part 6 – Application Layer Protocol Specification".

R: Read access only

RW: Read and write access

Index Designation Subindex Subindex name Type Bits Access

0x1000 Device type - - UDINT 32 R

0x1008 Device name - - STRING(8) 64 R

0x1009 Hardware version - - STRING(8) 64 R

0x100A Software version - - STRING(7) 56 R

0x1018 Identity 0 Subindex 000 USINT 8 R

1 Vendor ID UDINT 32 R

2 Product code UDINT 32 R

3 Revision number UDINT 32 R

4 Serial number UDINT 32 R

0x10F1 Error Settings Object 0 Subindex 000 USINT 8 R

1 Local Error Reaction USINT 8 R

2Sync Error Counter LimitUSINT8RW

0x1600 RxPDO 1 0 Subindex 000 USINT 8 RW

1 … 16 Output Object 1 … 16 UDINT 32 RW

0x1A00 TxPDO 1 0 Subindex 000 USINT 8 RW

1 … 16 Input Object 1 … 16 UDINT 32 RW

0x1C00 Sync Man Communication type 0 Subindex 000 USINT 8 R

1Elements UDINT32R

0x1C12 Sync Man 2 Assignment 0 Subindex 000 USINT 8 R

1 PDO Mapping object index of

assigned RxPDO

UDINT 32 R

0x1C13 Sync Man 3 Assignment 0 Subindex 000 USINT 8 R

1 PDO Mapping object index of

assigned TxPDO

UDINT 32 R

0x1C32 Sync Man 2 Synchronization 0 Subindex 000 USINT 8 R

1 Synchronization type UINT 16 R

2Cycle time / ns UDINT32R

3 Shift time / ns UDINT 32 R

4 Sync types supported UINT 16 R

5 Minimum cycle time / ns UDINT 32 R

6 Minimum shift time / ns UDINT 32 R

0x1C33 Sync Man 3 Synchronization 0 Subindex 000 USINT 8 R

1 Synchronization type UINT 16 R

2Cycle time / ns UDINT32R

3 Shift time / ns UDINT 32 R

4 Sync types supported UINT 16 R

5 Minimum cycle time / ns UDINT 32 R

6 Minimum shift time / ns UDINT 32 R

1 2 ... 74 75 76 77 78 79 80 81 82 83 84 ... 108 109

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