CompactCom 40 EtherCAT

CompactCom 40 EtherCAT
Network Guide
Anybus CompactCom 40 EtherCAT
®
Doc.Id. HMSI-27-220
Rev. 1.30
Connecting DevicesTM
HALMSTAD • CHICAGO • KARLSRUHE • TOKYO • BEIJING • MILANO • MULHOUSE • COVENTRY • PUNE • COPENHAGEN
HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden
E-mail: [email protected]
www.anybus.com
Important User Information
This document is intended to provide a good understanding of the functionality offered by EtherCAT. The document only describes the features that are specific to the Anybus CompactCom 40 EtherCAT. For general information regarding the Anybus
CompactCom 40, consult the Anybus CompactCom 40 design guides.
The reader of this document is expected to be familiar with high level software design, and communication systems in general.
The use of advanced EtherCAT-specific functionality may require in-depth knowledge in EtherCAT networking internals and/or
information from the official EtherCAT specifications. In such cases, the people responsible for the implementation of this product should either obtain the EtherCAT specification to gain sufficient knowledge or limit their implementation in such a way that
this is not necessary.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any inaccuracies or
omissions. The data and illustrations found in this document are not binding. We, HMS Industrial Networks AB, reserve the right
to modify our products in line with our policy of continuous product development. The information in this document is subject
to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the necessary steps
have been taken to verify that the applications meet all performance and safety requirements including any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that may arise as a
result from the use of undocumented features, timing, or functional side effects found outside the documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product are undefined, and may include e.g. compatibility
issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular implementation, HMS Industrial Networks AB cannot assume responsibility for actual
use based on these examples and illustrations.
Intellectual Property Rights
HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product described in this
document. These intellectual property rights may include patents and pending patent applications in the US and other countries.
Trademark Acknowledgements
Anybus ® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their respective
holders.
EtherCAT® is registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany
Warning:
This is a class A product. In a domestic environment this product may cause radio interference in which case the
user may be required to take adequate measures.
ESD Note:
This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD control procedures are not followed. Static control precautions are required when handling the product. Failure to observe this
may cause damage to the product.
Anybus CompactCom 40 EtherCAT Network Guide
Rev 1.30
Copyright© HMS Industrial Networks AB
Oct 2015 Doc. Id. HMSI-27-220
Table of Contents
Table of Contents
Preface
About This Document
Related Documents.................................................................................................................................. 5
Document History ................................................................................................................................... 5
Conventions & Terminology .................................................................................................................. 6
Support....................................................................................................................................................... 6
Chapter 1
About the Anybus CompactCom 40 EtherCAT
General....................................................................................................................................................... 7
Features ...................................................................................................................................................... 7
Chapter 2
Basic Operation
General Information ................................................................................................................................ 8
Software Requirements ..................................................................................................................... 8
EtherCAT Slave Interface (ESI) File ............................................................................................. 9
Device Identity.................................................................................................................................. 9
File Access over EtherCAT (FoE)................................................................................................ 10
EtherCAT Implementation Details ..................................................................................................... 11
General Information....................................................................................................................... 11
EtherCAT Synchronization........................................................................................................... 11
Sync Managers............................................................................................................................... 11
FMMUs ....................................................................................................................................... 11
Addressing Modes .......................................................................................................................... 12
Watchdog Functionality.................................................................................................................. 13
CANopen over EtherCAT Implementation Details ........................................................................ 14
General Information....................................................................................................................... 14
Implemented Services ...................................................................................................................... 14
Data Exchange........................................................................................................................................ 15
Application Data (ADI)............................................................................................................... 15
Process Data .................................................................................................................................. 15
Network Reset Handling....................................................................................................................... 16
Reset Node..................................................................................................................................... 16
Restore Manufacturer Parameters to Default .................................................................................. 16
Configured Station Alias (Node Address) .......................................................................................... 16
Device ID ................................................................................................................................................ 16
Modular Device Profile ......................................................................................................................... 17
Chapter 3
Object Dictionary (CANopen over EtherCAT)
Standard Objects .................................................................................................................................... 18
General.......................................................................................................................................... 18
Object Entries................................................................................................................................ 19
Manufacturer and Profile Specific Objects......................................................................................... 22
General.......................................................................................................................................... 22
Network Data Format .................................................................................................................. 22
Error Codes ................................................................................................................................... 23
Object Entries................................................................................................................................ 24
Modular Device Profile, Object Entries .......................................................................................... 25
Chapter 4
Anybus Module Objects
General Information .............................................................................................................................. 28
Anybus Object (01h).............................................................................................................................. 29
Diagnostic Object (02h) ........................................................................................................................ 30
Network Object (03h)............................................................................................................................ 32
Network Configuration Object (04h).................................................................................................. 34
Chapter 5
Host Application Objects
General Information .............................................................................................................................. 36
Assembly Mapping Object (EBh)........................................................................................................ 37
Sync Object (EEh) ................................................................................................................................. 38
EtherCAT Object (F5h) ........................................................................................................................ 41
Appendix A Categorization of Functionality
Basic.......................................................................................................................................................... 46
Extended.................................................................................................................................................. 46
Appendix B Implementation Details
SUP-Bit Definition................................................................................................................................. 47
Anybus State Machine ........................................................................................................................... 47
Application Watchdog Timeout Handling ......................................................................................... 47
Appendix C Technical Specification
Front View............................................................................................................................................... 48
Protective Earth (PE) Requirements................................................................................................... 49
Power Supply .......................................................................................................................................... 50
Environmental Specification ................................................................................................................ 50
EMC Compliance ................................................................................................................................... 50
Appendix D Timing & Performance
General Information .............................................................................................................................. 51
Internal Timing ....................................................................................................................................... 51
Startup Delay ................................................................................................................................ 51
NW_INIT Handling ................................................................................................................... 51
Event Based WrMsg Busy Time .................................................................................................... 52
Event Based Process Data Delay.................................................................................................... 52
Appendix E Copyright Notices
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Preface
P. About This Document
For more information, documentation etc., please visit the HMS website, ‘www.anybus.com’.
P.1 Related Documents
Document
Anybus CompactCom 40 Software Design Guide
Anybus CompactCom 40 Hardware Design Guide
Anybus CompactCom 40 Driver User Manual
IEC 61158-6
CiA Draft Standard 301 v4.02
Author
HMS
HMS
HMS
IEC
CAN in Automation
P.2 Document History
Summary of Recent Changes (1.21... 1.30)
Change
Corrected lengths in EtherCAT Host Object (F5h), attributes #6, #7, and #8, added attribute #16
Updated APPStatus table (ALStatusCode for Synchronization loss changed to 002Ch)
Updated information on creating and deleting diagnostic instances
Corrected data types for object attributes #3 and #4 in EtherCAT Host Object (F5h)
Extended and advanced joined to one category (extended)
Page(s)
42, 43
40
31
41
Revision List
Revision
1.00
1.01
1.10
Date
2014-03-21
2014-04-04
2014-07-15
Author(s)
KeL
KeL
KeL
1.20
2015-01-19 KeL
1.21
1.30
2015-02-24 KaD
2015-10-23 KeL
Anybus CompactCom 40 EtherCAT
Doc.Rev. 1.30
Chapter(s) Description
All
First official revision
Added EtherCAT logo to trademark acknowledgements
2, 3, 4, C, Updates and additions
D, E
2, 3, 4, 5, Misc. Updates and corrections
B, C, D
3, 4, 5
Minor updates
4, 5
Minor updates and corrections
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About This Document 6
P.3 Conventions & Terminology
The following conventions are used throughout this manual:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The terms ‘Anybus’ or ‘module’ refers to the Anybus CompactCom module.
•
The terms ‘host’ or ‘host application’ refers to the device that hosts the Anybus module.
•
Hexadecimal values are written in the format NNNNh or 0xNNNN, where NNNN is the hexadecimal value.
•
A byte always consists of 8 bits.
P.4 Support
For general contact information and support, please refer to the contact and support pages at
www.anybus.com.
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Chapter 1
1. About the Anybus CompactCom 40 EtherCAT
1.1 General
The Anybus CompactCom 40 EtherCAT communication module provides instant EtherCAT conformance tested connectivity via the patented Anybus CompactCom host interface. Any device that supports this standard can take advantage of the features provided by the module, allowing seamless
network integration regardless of network type.
This product conforms to all aspects of the host interface for Active modules defined in the Anybus
CompactCom Hardware- and Software Design Guides, making it fully interchangeable with any other
device following that specification. Generally, no additional network related software support is needed,
however in order to take advantage of advanced network specific functionality, a certain degree of dedicated software support may be necessary.
1.2 Features
•
CANopen over EtherCAT (CoE)
•
Support for Modular Device Profile
•
RJ45 connectors
•
DS301 compliant
•
Galvanically isolated bus electronics
•
Network Identity customization
•
EMCY support
•
Up to 57343 ADIs can be accessed from the network as Manufacturer Specific Objects and Device Profile Specific Objects (generic mode).
•
Up to 16383 ADIs can be accessed form the network as Manufacturer Specific Objects and Device Profile Specific Objects (modular device profile enabled)
•
Up to 1486 bytes of fast cyclic I/O in each direction
•
EtherCAT Slave Interface file provided by HMS
•
Support for Sync0 functionality using distributed clocks
•
File access over EtherCAT (FoE)
•
Support for process data remap from the network
•
Network cycle time down to 100 μs
•
Possible to implement DS402 drive profile, Semi device profiles, and other device profiles
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Chapter 2
2. Basic Operation
2.1 General Information
2.1.1 Software Requirements
No additional network support code needs to be written in order to support the Anybus CompactCom
40 EtherCAT, however due to the nature of the EtherCAT networking system certain restrictions must
be taken into account:
•
ADIs with instance numbers up to 57343 (DFFFh) can be accessed from the network. If the
Modular Device Profile is implemented and running, instance numbers are limited to 16383
(3FFFh).
•
When mapping ADIs to process data, there is a limit of 1486 elements or 1486 bytes, whichever
comes first, that can be mapped in either direction.
•
The flexible nature of the Anybus concept allows the application to modify the behavior on EtherCAT in ways which contradict the generic EtherCAT Slave Information file or in other ways
voids network certification. Those responsible for the implementation of the final product
should ensure that their level of implementation matches their own requirements and policies
regarding network certification and interoperability.
•
The use of advanced EtherCAT-specific functionality may require in-depth knowledge in EtherCAT networking internals and/or information from the official EtherCAT specifications. In
such cases, those responsible for the implementation of the product should either obtain the
EtherCAT specification to gain sufficient knowledge or limit their implementation is such a way
that this is not necessary.
For further information about the Anybus CompactCom 40 software interface, consult the general Anybus CompactCom 40 Software Design Guide.
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2.1.2 EtherCAT Slave Interface (ESI) File
Each device on EtherCAT is associated with a EtherCAT Slave Interface (ESI) file in XML format,
which holds a description of the device and its functions.
HMS supplies a generic ESI file which can serve as a basis for new implementations. However, due to
the flexible nature of the Anybus CompactCom concept, it is possible to alter the functionality of the
module in ways which contradicts the information in this file. This may cause trouble if the master expects the configuration stated in the file. In some cases, these problems can be rectified by the end user
by manually changing I/O parameters etc. To ensure interoperability and to reduce the complexity for
the end user, it is strongly recommended to create a custom ESI file to match the final implementation
of the product.
The EtherCAT Technology Group (ETG) requires that the Vendor ID is changed to reflect the vendor
of the end product. The following scenarios, among others, may require additional changes to the EtherCAT Slave Interface file.
•
The use of a custom Product Code.
•
The use of an own Vendor ID.
•
Change of the product revision.
•
The host application supports the Remap_ADI commands.
•
Slow application response times. Explicit requests should be handled within 1 ms in order to
comply with the generic ESI file supplied by HMS. This may not be sufficient for a slow serial
link with a substantial amount of I/O (in such case, the mailbox timeout value in the file needs
to be increased accordingly).
Note that deviations from the generic ESI file requires the use of custom Product Codes apart from the
required custom Vendor ID.
2.1.3 Device Identity
In a generic implementation (i.e. no network specific support is implemented) the module will appear as
a generic HMS device with the following identity information:
Object Entry
Vendor ID
Product Code
Device Name
Serial Number
Value
E000 001Bh (HMS Industrial Networks Secondary Vendor ID, has to be
replaced by Vendor ID of end product vendor.)
0000 0036h (Anybus CompactCom 40 EtherCAT)
‘Anybus CompactCom 40 EtherCAT’
(Assigned during manufacturing)
By implementing support for the EtherCAT Object (F5h), the module can be customized to appear as
a vendor specific implementation rather than a generic Anybus device. For the end product to pass the
ETG conformance tests and be certified, a separate Vendor ID has to be requested from ETG.
See also...
•
“EtherCAT Object (F5h)” on page 41
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Basic Operation 10
2.1.4 File Access over EtherCAT (FoE)
The module supports File Access over EtherCAT (FoE) for downloading a firmware file from a Client
machine to the Server. All FoE requests not concerning files with the extension hiff (HMS firmware
files) or the extension .nfo, will be forwarded to the Application File System Interface object, see the
Anybus CompactCom 40 Software Design Guide for more information.
If a firmware file, downloaded throught FoE, is pending for update, the file with the extension hiff will
be possible to upload via FoE.
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Basic Operation 11
2.2 EtherCAT Implementation Details
2.2.1 General Information
The module implements a full EtherCAT slave with the following basic properties:
•
Application Layer:
CANopen over EtherCAT
•
FMMUs:
4
•
Sync Managers:
4
•
RAM Size:
16 kByte
See also...
•
“CANopen over EtherCAT Implementation Details” on page 14
2.2.2 EtherCAT Synchronization
EtherCAT synchronization and jitter accuracy may depend on different things:
•
How often the master sends out sync frames
•
Temperature variations in the environment (large impact)
•
The implementation of the EtherCAT slave device
•
Which Ethernet physical layer is used in the slave devices (RJ45, E-Bus etc.)
The Anybus CompactCom 40 EtherCAT modules all demonstrate less than 1 μs synchronization accuracy. For RJ45 products the accuracy may be around 50 ns under good conditions, and for E-Bus products around 30 ns.
2.2.3 Sync Managers
The module features four Sync Managers:
•
Sync Manager 0
Used for mailbox write transfers (Master to Slave).
The module has a configurable write mailbox size with default size of 276 bytes, corresponding
to 255 bytes plus relevant protocol headers and padding.
•
Sync Manager 1
Used for mailbox read transfers (Slave to Master).
The module has a configurable read mailbox size with default size of 276 bytes, corresponding
to 255 bytes plus relevant protocol headers and padding.
•
Sync Manager 2
Contains the RxPDOs (in practice, Sync Manager 2 holds the Read Process Data).
•
Sync Manager 3
Contains the TxPDOs (in practice, Sync Manager 3 holds the Write Process Data).
2.2.4 FMMUs
There are four FMMUs. The EtherCAT master can use the FMMUs freely for any purpose.
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2.2.5 Addressing Modes
There are a number of different addressing modes which can be applied when communicating with EtherCAT slaves. As a full EtherCAT slave device, the module supports position addressing, node addressing and logical addressing.
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Basic Operation 13
2.2.6 Watchdog Functionality
Apart from the standard watchdog functionality, the following additional watchdogs are implemented:
•
Output I/O Sync Manager Watchdog
If enabled, this watchdog monitors the PDO communication towards the Anybus module. If the
master doesn’t update the Read Process Data within the specified time period, this will trigger a
timeout condition in the module, causing it to shift from OPERATIONAL to SAFE-OPERATIONAL. The supervision-bit (SUP) is also affected by this.
The sync manager watchdog is enabled by default in the ESI file, with a default time period of
100 ms.
The sync manager watchdog can always be disabled/enabled manually in the configuration tool
for the master.
See also...
•
“SUP-Bit Definition” on page 47
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Basic Operation 14
2.3 CANopen over EtherCAT Implementation Details
2.3.1 General Information
As mentioned previously, the module implements CANopen over EtherCAT. The object implementation is based on the DS301 communication profile.
See also...
•
“Data Exchange” on page 15
•
“Object Dictionary (CANopen over EtherCAT)” on page 18
2.3.2 Implemented Services
The module implements the following CANopen services:
Service
SDO Download Expedited
Description
Writes up to four octets to the slave
SDO Download Normal
Writes up to a negotiated number of octets to the slave
Download SDO Segment
Writes additional data if the object size exceeds the negotiated no. of octets.
SDO Upload Expedited
Reads up to four octets from the slave
SDO Upload Normal
Reads up to a negotiated number of octets from the slave§
Upload SDO Segment
Reads additional data if the object size exceeds the negotiated no. of octets
Abort SDO Transfer
Server abort of service in case of an erroneous condition
Get OD List
Reads a list of available indices
Get Object Description
Reads details of an index
Get Entry Description
Reads details of a subindex
Emergency
Reports unexpected conditions and diagnostic events.
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Basic Operation 15
2.4 Data Exchange
2.4.1 Application Data (ADI)
Application Data Instances (ADIs) can be accessed from the network via dedicated object entries in the
Manufacturer Specific range and the Profile range (2001h - FFFFh). The SDO information protocol allows nodes to retrieve the name and data type of the ADI.
See also...
•
“Manufacturer and Profile Specific Objects” on page 22
2.4.2 Process Data
ADIs mapped as Process Data will be exchanged cyclically as Process Data Objects (PDOs) on the bus.
The actual PDO map is based on the Process Data map specified during startup or how the application
is implemented. It can be changed from the network during runtime, if the application has implemented
the remap commands in the Application Data Object.
The module supports up to 6 TPDOs and up to 6 RPDOs, each supporting up to 254 SDO mappings.
Each SDO equals one Process Data mapped ADI element (i.e. mapping multiple element ADIs will result in multiple SDO mappings). The number of TPDOs and RPDOs can be extended if the Assembly
Mapping Object is implemented.
To gain in configurability, the Assembly Mapping Object can be used to remap and replace the Process
Data map specified at startup. Each PDO will be represented by an instance in the Assembly Mapping
Object. The PDOs will then be remapped when the module enters the Safe-Operational state.
If the Modular Device Object is implemented, i.e. the Modular Device Profile is enabled, the Assembly
Mapping Object will be ignored.
Note: Preferably, the EtherCAT Slave Information file should be altered to match the actual Process
Data implementation. This is not a general requirement, but it has a positive impact on compatibility
with 3rd party masters.
See also...
•
“Standard Objects” on page 18
•
“Manufacturer and Profile Specific Objects” on page 22
•
“Assembly Mapping Object (EBh)” on page 37
•
Application Data Object (see Anybus CompactCom 40 Software Design Guide)
•
Modular Device Object (see Anybus CompactCom 40 Software Design Guide)
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Basic Operation 16
2.5 Network Reset Handling
2.5.1 Reset Node
If a valid firmware has been downloaded via FoE (File access over EtherCAT), the Anybus CompactCom 40 EtherCAT will send a reset type 00h (‘Power-on reset’) to the application at the transition from
BOOT to INIT.
Prior to the reset command a Reset_Request command has to be sent to the host application to make
sure that a reset can be performed.
2.5.2 Restore Manufacturer Parameters to Default
Upon receiving a ‘Restore Manufacturer Parameters to Default’ request from the network, the module
will issue a reset command to the Application Object (FFh) with CmdExt[1] set to 01h (‘Factory default
reset’).
A factory default reset can only be performed in the EtherCAT state PREOPERATIONAL. Performing a reset in another state will generate SDO abort code 08000020h (invalid state).
See also...
•
“Standard Objects” on page 18, entry 1011h (‘Restore Parameters’)
2.6 Configured Station Alias (Node Address)
The Configured Station Alias (node address) range is 1... 65535. Address 0 indicates that the device has
yet to be configured. The Configured Station Alias is stored in the slave EEPROM and may be used by
some masters as a node address.
The Anybus CompactCom 40 EtherCAT slave module does not support local configuration of the Configured Station Alias. For most applications it is recommended to leave the Configured Station Alias unchanged, but it is possible to assign each slave an address from the network.
2.7 Device ID
The Device ID is used by the master to explicitly identify a slave. This is e.g. useful when changing a
faulty device during runtime1. A preconfigured device can be entered into the network, and its Device
ID can be set to the same Device ID as the faulty device was appointed.
It is also useful to prevent cable swapping when there are two or more identical devices on the network.
The Device ID range is 1... 65535. Address 0 indicates that the device has yet to be configured. The value
can be set using the Network Configuration Object, instance 1.2
See also...
•
“Network Configuration Object (04h)” on page 34
1. A so called HotConnect application.
2. Please note that in the Anybus CompactCom M30 EtherCAT, the Network Configuration Object, instance
3 was used for the Device ID.
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2.8 Modular Device Profile
The Anybus CompactCom 40 EtherCAT supports the Modular Device Profile, that is enabled if the
Modular Device Object is implemented in the application. Running this profile, the module supports a
maximum of 63 slots, including the coupler in slot 0. The maximum number of ADIs, that can be accessed from the network, is 16383.
The value of the Device Type Object (1000h) is changed to 00005001h.
Enabling the Modular Device Profile will override the settings of the Assembly Mapping Object, if this
object is implemented.
See also....
•
Modular Device Object (Anybus CompactCom 40 Software Design Guide)
•
“Modular Device Profile, Object Entries” on page 25
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Chapter 3
3. Object Dictionary (CANopen over EtherCAT)
3.1 Standard Objects
3.1.1 General
The standard object dictionary is implemented according to the DS301 communication profile. Note
that certain object entries correspond to settings in the EtherCAT Object (F5h), and the Diagnostic Object (02h).
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Object Dictionary (CANopen over EtherCAT) 19
3.1.2 Object Entries
Index Object Name
1000h Device Type
Subindex
00h
Description
Device Type
Type
U32
Access
RO
1001h Error register
1003h Pre-defined
error field
00h
00h
01h...05h
00h
Error register
Number of errors
Error field
Manufacturer device
name
Manufacturer hardware
version
U8
U8
U32
Visible
string
Visible
string
RO
RW
RO
RO
Manufacturer Software
version
Visible RO
string
Largest sub index supported
Restore all default
parameters
Number of entries
Vendor ID
Product Code
Revision Number
Serial Number
U8
RO
01h
U32
RW
-
U8
U32
U32
U32
U32
RO
RO
RO
RO
RO
Number of entries
These entries are managed through
the EtherCAT Object, which can
optionally be implemented in the
host application. See “EtherCAT
Object (F5h)” on page 41.
RO
RW
1008h Manufacturer
device name
1009h Manufacturer 00h
hardware version
100Ah Manufacturer 00h
software version
1011h Restore param- 00h
eters
01h
RO
Notes
Default 0000 0000h (No profile).
Can be managed through the EtherCAT Object, which can optionally
be implemented in the host application. See “EtherCAT Object (F5h)”
on page 41.
Note: If the host application Modular Device Object is implemented,
the default value is 0000 5001h.
This information managed through
the Diagnostic Object, see “Diagnostic Object (02h)” on page 30.
These entries are managed through
the EtherCAT Object, which can
optionally be implemented in the
host application. See “EtherCAT
Object (F5h)” on page 41.
1018h Identity object
00h
01h
02h
03h
04h
10F1h Error Settings
object
00h
02h
00h
Number of entries
U8
Sync error counter limit U32
No. of mapped applica- U8
tion objects in PDO
01h
Mapped object #1
U32
02h
Mapped object #2
U32
...
NNh
...
Mapped object #NN
...
U32
00h
No. of mapped applica- U8
tion objects in PDO
01h
Mapped object #1
U32
02h
Mapped object #2
U32
...
NNh
...
Mapped object #NN
...
U32
RO/RWa ...
a RO/RW
00h
01h
02h
03h
04h
Number of entries
Mailbox wr
Mailbox rd
Process Data out
Process Data in
U8
U8
U8
U8
U8
RO
RO
RO
RO
RO
1600h - Receive PDO
1xxxh mapping
1A00h Transmit PDO
- 1xxxh mapping
1C00h Sync Manager
Communication Type
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RO/RWa No. of mapped objects (0.. 254),
see “Mapping ADIs on PDOs” on
page 21 for more information.
a RO/RW
RO/RWa ...
a RO/RW
RO/RWa No. of mapped objects (0.. 254),
see “Mapping ADIs on PDOs” on
page 21 for more information.
a RO/RW
4
1
2
3
4
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Object Dictionary (CANopen over EtherCAT) 20
Index Object Name Subindex Description
1C12h Sync Manager 00h
No. of assigned PDOs
Rx PDO Assign 01h - NNh Assigned PDO
Type
U8
Access
U16
RO/RWb
1C13h Sync Manager 00h
No. of assigned PDOs
Tx PDO Assign 01h - NNh Assigned PDO
U8
RO/RWc
U16
RO/RWc
RO
12 (0Bh)
RO/RW 00h: Free Run
02h: DC Sync0
Also see “Sync Object (EEh)” on
page 38.
RW
Cycle time in nanoseconds
RW
Shift time in nanoseconds
RO
Bit 0 set: FREE_RUN supported
Bit 2 set: DC Sync0 supported.
Bit 5 set: Output shift with local
timer
All other bits are set to 0
Also see “Sync Object (EEh)” on
page 38.
RO
Minimum cycle time in nanoseconds.
RO
Output Calc and Copy Time in
nanoseconds.
RO
Delay time in nanonseconds.
Always set to 0.
RO
Cycle time to small
RO
12 (0Bh)
RO/RW 00h: Free Run
02h: DC Sync0
Also see “Sync Object (EEh)” on
page 38.
RW
Cycle time in nanoseconds, same
value as 1C32h, subindex 2.
RW
Shift time in nanoseconds.
RO
Bit 0 set: FREE_RUN supported
Bit 2 set: DC Sync0 supported.
Bit 5 set: Input shift with local timer
All other bits are set to 0
Also see “Sync Object (EEh)” on
page 38.
RO
Minimum cycle time in nanoseconds, same value as 1C32h, subindex 5.
RO
Input Calc and Copy Time in nanoseconds.
RO
Cycle time to small, same value as
1C32h, subindex 12 (0Bh).
1C32h SM output
parameter
1C33h SM input
parameter
00h
01h
Max subindex supported U8
Sync mode
U16
02h
03h
04h
Cycle time
Shift time
Synchronization Types
supported
U32
U32
U16
05h
Minimum cycle time
U32
06h
U32
09h
Output Calc and Copy
Time
Delay time
0Ch
00h
01h
Cycle Time Too Small
U16
Max subindex supported U8
Sync mode
U16
02h
Cycle time
U32
03h
04h
Shift time
Synchronization Types
supported
U32
U16
05h
Minimum cycle time
U32
06h
Input Calc and Copy
Time
Cycle Time Too Small
U32
0Ch
U32
U16
Notes
b
RO/RW
a. Writable when dynamic process data is supported by the application (remap commands).
b. When using static PDO mapping this subindex is read only. When using dynamic PDO mapping, it is writable.
c. If more than one sync mode is supported, this entry is writable.
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Mapping ADIs on PDOs
The Receive PDO mapping objects (1600h - 1xxxh) and the Transmit PDO mapping objects (1A00h 1xxxh) are configured depending on how the host application is set up:
Mode
Generic, static mapping
Generic, dynamic
mapping
Access
RO
1-6
1 - 254b
RW
1 - 6a
254 (except the 6th object, that has 216
sub indices as the maximum number of
entries is 1486)
1486/(number of objects) (max 254)
Assembly Mapping
RO/RWd
Object implemented in
hostc
Modular device, static RO
mapping
Modular device,
dynamic mapping
RW
Number of objects (in each direction)
a
Number of assembly mapping instances
in that direction (max 63)
Same as the number of modules that
have objects mappable in that direction
(max 63)
Same as the number of modules that
have objects mappable in that direction
(max 63)
Number of sub indices per object
Same as the number of ADIs mapped in
that direction during setup
1486/(number of objects) (max 254)
a. Depends on how many ADI mapping items that are mapped by the application during setup. Each PDO can hold
254 ADI mapping items.
b. Depends on how many ADI mapping items that are mapped by the application during setup. One PDO mapping
object at the time will be filled with mapped items.
c. See “Assembly Mapping Object (EBh)” on page 37 for more information.
d. RO if the corresponding assembly instance is static, RW if it is dynamic.
Please note that in Generic mode and in Modular Device Profile mode, the ADI to PDO mapping is
performed by the application at startup. Also note that if both the Assembly Mapping Object and the
Modular Device Object are implemented in the host, the Modular Device Profile mode will be enabled,
overriding the settings of the Assembly Mapping Object.
The PDO assignment objects (1C12h and 1C13h) are configured depending on how the host application
is set up:
Mode
Generic, static mapping
Generic, dynamic
mapping
Access
RO
RW
Assembly Mapping
RW
Object implemented in
host
Modular device, static RO
mapping
Modular device,
RW
dynamic mapping
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Number of sub indices per object
Same as the number of PDO mapping
objects in that direction.
Same as the number of PDO mapping
objects in that direction.
Same as the number of PDO mapping
objects in that direction.
Content
All PDO mapping objects in that direction.
Same as the number of PDO mapping
objects in that direction.
Same as the number of PDO mapping
objects in that direction.
All PDO mapping objects in that direction.
All PDO mapping objects in that direction.
The first PDO in that direction
All PDO mapping objects in that direction.
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3.2 Manufacturer and Profile Specific Objects
3.2.1 General
Each object entry in the manufacturer specific range (2001h...FFFFh) corresponds to an instance (a.k.a.
ADI) within the Application Data Object (FEh), i.e. network accesses to these objects result in object
requests towards the host application. In case of an error, the error code returned in the response from
the host application will be translated into the corresponding CANopen abort code.
Important: Since any access to these object entries will result in an object access towards the host application, the time spent communicating on the host interface must be taken into account when calculating the SDO timeout value.
3.2.2 Network Data Format
Data is translated between the native network format and the Anybus data format as follows:
Anybus Data Type
BOOL
SINT8
SINT16
SINT32
UINT8
UINT16
UINT32
CHAR
ENUM
BITS8
BITS16
BITS32
OCTET
SINT64
UINT64
FLOAT
PAD0-16
BIT1 - BIT7
Network Data Type
UNSIGNED8
INTEGER8
INTEGER16
INTEGER32
UNSIGNED8
UNSIGNED16
UNSIGNED32
VISIBLE_STRING
UNSIGNED8 or ENUM
BITARR8
BITARR16
BITARR32
OCTET_STRING
INTEGER64
UNSIGNED64
REAL32
NULL
BIT1 - BIT7
Note 1: ADIs with multiple elements are represented either as arrays (all elements share the same data
type) or as records (the elements may have different data types). Exceptions to this are ‘CHAR’ which
will always be represented as VISIBLE_STRING, and ‘OCTET’ which will always be represented as
OCTET_STRING.
Note 2: Single element ADIs are represented as a simple variable, with the exception of ‘CHAR’ which
will always be represented as VISIBLE_STRING, and ‘OCTET’ which will always be represented as
OCTET_STRING.
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3.2.3 Error Codes
If an error occurs when an object in the application is requested from the module, the error code returned is translated to an CANopen abort code as follows:
Anybus CompactCom
Error Code
Reserved
Fragmentation error (serial
mode)
Invalid message format
Unsupported object
Unsupported instance
Unsupported command
Invalid CmdExt[ 0 ]
Invalid CmdExt[ 1 ]
Attribute not settable
Attribute not gettable
Too much data
Not enough data
Out of range
Invalid state
Out of resources
Value too high
Value too low
Write access to a read process data mapped ADI
Object Specific Error
CANopen Abort Code
Description (CANopen)
N/A
N/A
-
N/A
0602 0000h
0602 0000h
0604 0043h
0602 0000h
0609 0011h
0601 0002h
0601 0001h
0607 0012h
0607 0013h
0609 0030h
0800 0022h
0504 0005h
0609 0031h
0609 0032h
0601 0006h
Object does not exist in the object dictionary.
Object does not exist in the object dictionary.
General parameter incompatibility reason.
Object does not exist in the object dictionary. (ADI access)
Subindex does not exist. (ADI access]
Attempt to write a read only object.
Attempt to read a write only object.
Data type does not match, length of service parameter too long.
Data type does not match, length of service parameter too short.
Value range of parameter exceeded (only for write access).
Data cannot be transferred or stored to the application because of
the present device state.
Out of memory
Value of parameter higher than upper limit (only for write access).
Value of parameter lower than lower limit (only for write access).
Object mapped to RxPDO, SDO download blocked.
0800 0000h
General error
Note: If no corresponding error code can be defined on CANopen, the default error code will be General error (0800 000h).
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3.2.4 Object Entries
The exact representation of an ADI depends on its number of elements. In the following example, ADIs
no. 0002h and 0004h only contain one element each, causing them to be represented as simple variables
rather than arrays. The other ADIs have more than 1 element (of the same data type), causing them to
be represented as arrays. If an ADI has more than 1 element, of different data types, it will be represented as a record.
Index Object Name
2001h ADI 0001h
2002h ADI 0002h
2003h ADI 0003h
2004h ADI 0004h
2005h ADI 0005h
...
...
5FFFh ADI 3FFFh
Subindex
00h
01h
02h
...
...
NNh
00h
00h
01h
02h
...
...
NNh
00h
00h
01h
02h
...
...
NNh
...
00h
01h
02h
...
...
NNh
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Description
Number of entries (NNh)
ADI value(s) (Attribute #5)
Type
U8
-
Access
RO
-
Notes
The data type and access
rights of the ADI values are
determined by the ADI itself.
U8
-
RO
-
-
U8
-
RO
-
-
...
U8
-
...
RO
-
...
-
ADIs with multiple elements
(i.e. arrays) are represented
as multiple subindexes.
ADI value (Attribute #5)
Number of entries (NNh)
ADI value(s) (Attribute #5)
ADIs with multiple elements
(i.e. arrays) are represented
as multiple subindexes.
ADI value (Attribute #5)
Number of entries (NNh)
ADI value(s) (Attribute #5)
ADIs with multiple elements
(i.e. arrays) are represented
as multiple subindexes.
...
Number of entries (NNh)
ADI value(s) (Attribute #5)
ADIs with multiple elements
(i.e. arrays) are represented
as multiple subindexes.
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3.2.5 Modular Device Profile, Object Entries
The objects listed in the table below, shall be implemented if the Modular Device Profile mode is enabled.
Index Object Name
6000h - Input data
6FFFh
Subindex
Any
7000h- Output data
7FFFh
Any
9nnnh Information
data
Any
F000h Modular Device 00h
Profile
01h
F030h Configured
Module Ident
List
Description
ADIs for all modules,
except the coupler, that
are write process data
mappable will be represented in this range.
ADIs for all modules,
except the coupler, that
are read process data
mappable will be represented in this range.
Information objects, one
for each module, occupying a slot, except the
coupler.
Number of entries (NNh)
Index distance
Type
Any
Access Notes
R, RW For more information, see “ADI to
SDO Translation” on page 26.
Any
W, RW
For more information, see “ADI to
SDO Translation” on page 26.
Any
RW
For more information, see “Module
Identification Objects” on page 27
U8
U16
R
R
Value: 5
This value decides how many
objects are assigned to each slot.
The value is the same for all modules, and thus gives the index distance between two slots.
Value: “Number of ADIs per slot”,
attribute #12 in the Modular Device
Object. See Anybus CompactCom
40 Software Design Guide for more
information.
Value: “Number of slots”, Attribute
11 in the Modular Device Object.
See Anybus CompactCom 40 Software Design Guide for more information.
Value: 0000 0700h (Subindices 9,
10, and 11 are supported in the
9nnnh module identification
objects)
Set to 0 to force the coupler process data to be positioned ahead of
the process data. This allows for
better integration towards the modular device host object.
The master writes the configured
module list to these objects, so that
the slave can compare the
expected module configuration to
the actual configuration.a
02h
Maximum number of
modules
U16
R
04h
General Information
U32
R
05h
Module PDO group of
the device
U16
R
00h
Number of Entries
(Number of slots-1)
Module identity of the
module configured on
position 1 (slot 1).
...
Module identity of the
module configured on
position n (slot n).
U8
R
U32
RW
U32
RW
01h
...
0nh
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Index Object Name Subindex
F050h Detected Mod- 00h
ule Ident List
01h
...
0nh
F600h - Input data area Any
F6FFh for the coupler
F700h - Output data
F7FFh area for the
coupler
Any
Description
Number of Entries
(Number of slots-1)
Module identity of the
module configured on
position 1 (slot 1).
...
Module identity of the
module configured on
position n (slot n).
ADIs for the coupler that
are write process mappable will be represented in this range.
ADIs for the coupler that
are read process mappable will be represented in this range.
Type
U8
U32
Access Notes
R
This object contains information
about the modules, in the occupied
slots, scanned from the application.
RW
U32
RW
Any
R, RW
-
Any
W, RW
-
a. If the Configured Module Ident List (F030h) does not match the Detected Module Ident List (F050h), the module
will indicate a mismatch configuration by setting the ALStatusCode register to 0070h. The module will not enter
SAFE-OPERATIONAL state.
ADI to SDO Translation
In the Modular Device Profile, all ADIs have to be mapped in numbering order. The number of ADIs
mapped per slot is defined in the Modular Device Object, where the same number of objects is assigned
to each slot. Depending on whether the ADIs are write or read mappable, they will be mapped to different object ranges. An ADI that is both read and write mappable will be mapped to both ranges. Please
note that the SDOs are assigned in number order, but occupy different ranges, depending on type.
The ADIs, that are neither read nor write mappable, will not be mapped to an SDO, resulting in “empty
SDOs” as shown in the table below.
Module
0 (Coupler)
1
2
ADI
1
2
3
4
5
6
7
8
9
10
11
12
14
15
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Type
Write mappable
Read mappable
Write mappable
Read mappable
Not mappable
Read mappable
Write mappable
Writable
Read only
Read mappable
Writeable
Read only
Write mappable
Write and Read
mappable
SDO
F600h
F701h
F602h
F703h
7000h
6001h
7004h
6008h
6009h and 7009h
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Module Identification Objects
The first SDO in the 9nnnh range for each module, shall be predefined according to the table below:
Subindex
00h (0)
Type
U8
Access
R
09h (9)
U16
R
0Ah (10)
U32
R
0Bh (11)
U16
r
Name and Description
Highest sub-index supported.
Value: 11 (0Bh)
Module PDO group.
Value: 1. (The PDO group is set to 1 for all modules
except the coupler to allw coupler data to be put before
module data.)
Module Identity
(Module identity for the module according to the host
application.)
Slot (Module number)
PDO Mapping
The Receive PDO mapping objects and the Transmit PDO mapping objects are configured depending
on how the host application is set up. One object in the 16xxh series is created for each module, that
holds at least one read mappable ADI. The object numbers will be 1600h + slot number -1. One object
in the 1Axxh series is created for each module, that holds at least one write mappable ADI. The object
numbers will be 1A00h + slot number -1.
If the coupler holds any write or read mappable ADIs, objects will be created for these. Any objects for
the coupler are created after all other mapping objects have been created.
For more information, see “Mapping ADIs on PDOs” on page 21.
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Chapter 4
4. Anybus Module Objects
4.1 General Information
This chapter specifies the Anybus Module Object implementation in the module.
Standard Objects:
•
“Anybus Object (01h)” on page 29
•
“Diagnostic Object (02h)” on page 30
•
“Network Object (03h)” on page 32
•
“Network Configuration Object (04h)” on page 34
•
“File System Interface Object (0Ah), see Anybus CompactCom 40 Software Design Guide
Network Specific Objects:
(none)
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4.2 Anybus Object (01h)
Category
Basic
Object Description
This object assembles all common Anybus data, and is described thoroughly in the general Anybus
CompactCom 40 Software Design Guide.
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Get_Enum_String
Object Attributes (Instance #0)
(Consult the general Anybus CompactCom 40 Software Design Guide for further information.)
Instance Attributes (Instance #1)
Basic
#
1
2... 11
Name
Module type
-
Access
Get
-
Type
UINT16
-
12
LED colors
Get
13... 16
17
18
19
Virtual attributes
Black list/White list
Network time
Get/Set
Get/Set
Get
struct of:
UINT8 (LED1A)
UINT8 (LED1B)
UINT8 (LED2A)
UINT8 (LED2B)
-
UINT64
Value
0403h (Anybus CompactCom 40)
Consult the general Anybus CompactCom 40
Software Design Guide for further information.
Value:Color:
01h Green
02h Red
01h Green
02h Red
Consult the general Anybus CompactCom 40
Software Design Guide for further information.
64-bit value expressed in nanoseconds.
Base: 12:00 AM, January 1, 2000.
The Network time attribute contains the value
of the DC system time register of the EtherCAT
slave controller.
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4.3 Diagnostic Object (02h)
Category
Basic
Object Description
This object provides a standardised way of handling host application events & diagnostics, and is thoroughly described in the general Anybus CompactCom 40 Software Design Guide.
An EMCY Object (Emergency Object) is sent on the network each time a diagnostic instance is created
or deleted.
Supported Commands
Object:
Get_Attribute
Create
Delete
Instance:
Get_Attribute
Object Attributes (Instance #0)
#
1... 4
Name
-
Access
-
Data Type
-
11
Max no. of instances
Get
UINT16
12
Supported functionality
Get
BITS32
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Value
Consult the general Anybus CompactCom 40 Software
Design Guide for further information.
5 + 1 (one instance is reserved for a major unrecoverable
event)
Bit 0: 0 (The module does not support latching events)
Bits 1 - 31: 0
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Instance Attributes
Basic
#
1
2
3
4 -7
Name
Severity
Event Code
NW specific extension
(not used)
Access
Get
Get
Get
Type
Value
UINT8
See Anybus CompactCom 40 Software Design Guide
UINT8
Array of UINT8 CANopen specific EMCY code (2 bytes)
When an instance is created (i.e. a diagnostic event is entered), the following actions are performed:
1. A new entry will be created in object entry 1003h (Pre-defined error field) as follows:
High byte
(Not used)
(UINT32)
Event Code
Low byte
00h
2. The Error Register (object entry 1001h) is set with the corresponding bit information
Bit no.
0
1
Description
Generic error
Current
2
Voltage
3
Temperature
4
Communication error
5
6
7
Device profile specific
Reserved
Manufacturer specific
Condition for setting bit
Always set when another error bit in this object is set.
Event code is 20h - 23h
OR
Event code is FFh AND the high byte in NW specific information is 20h - 23h.
Event code is 30h - 33h
OR
Event code is FFh AND the high byte in NW specific information is 30h - 33h.
Event code is 40h - 42h
OR
Event code is FFh AND the high byte in NW specific information is 40h - 42h.
Event code is 80h - 82h
OR
Event code is FFh AND the high byte in NW specific information is 80h - 82h
OR
Anybus state equals ERROR.
Always 0
Always 0
Event code is FFh
AND
the high byte in NW specific information is FFh.
3. If the diagnostic instance is created in the state WAIT_PROCESS or higher, an EMCY object is
sent to the network with the following information:
Byte 0
00h
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Event Code Error Regis- Manufacturer Specific Field (Not used)
ter (1001h)
Byte 6
Byte 7
No EMCY object is sent if the instance is created in either of the states SETUP or NW_INIT.
Note 1: When creating a Major unrecoverable event, this will not end up as an EMCY message
on the bus, since this effectively forces the Anybus module to enter the EXCEPTION state.
Note 2: Bytes 0 and 1 (00h + Event Code) will be replaced by the value of attribute 3 if implemented.
An EMCY object with error code 0000h (“error reset”) is sent when a diagnostic instance is deleted.
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4.4 Network Object (03h)
Category
Basic
Object Description
For more information regarding this object, consult the general Anybus CompactCom 40 Software Design Guide.
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Get_Enum_String
Map_ADI_Write_Area
Map_ADI_Read_Area
Map_ADI_Write_Ext_Area
Map_ADI_Read_Ext_Area
Object Attributes (Instance #0)
(Consult the general Anybus CompactCom 40 Software Design Guide for further information.)
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Instance Attributes (Instance #1)
Basic
#
1
2
3
4
5
Name
Network type
Network type string
Data format
Parameter data support
Write process data size
6
Read process data size Get
UINT16
7
Exception Information
Get
UINT8
-
-
8... 10 (reserved)
Access
Get
Get
Get
Get
Get
Type
UINT16
Array of CHAR
ENUM
BOOL
UINT16
Value
0087h
‘EtherCAT’
00h (LSB first)
True
Current write process data size (in bytes).
Updated on every successful Map_ADI_Write_Area,
Map_ADI_Write_Ext_Area and
Remap_ADI_Write_Area.a
Current read process data size (in bytes).
Updated on every successful Map_ADI_Read_Area,
Map_ADI_Read_Ext_Area and
Remap_ADI_Read_Area.a
Additional information may be provided here when the
module has entered the EXCEPTION state, see
“Exception information” on page 33.
Consult the general Anybus CompactCom 40 Software
Design Guide for further information.
a. Consult the general Anybus CompactCom 40 Software Design Guide for further information.
Exception information
Value
00h
01h
02h
03h
04h
05h
06h
07h
08h
Description
No additional information available.
(reserved)
The implementation of the Assembly Mapping Host Object is incorrect, e.g. the attribute 11 or 12 is not supported.
The application supports the Remap ADI commands, but returned an error response when requesting object
attributes 11 or 12 of the Application Data Object (“No. of read process data mappable instances” or “No of
write process data mappable instances”) or when issuing the Get_Instance_Numbers command towards the
Application Data Object.
The implementation of the Modular Device Object in the host application is not correct, e.g. an error
response is received on the Get_List command.
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4.5 Network Configuration Object (04h)
Category
Extended
Object Description
This object holds network specific configuration parameters that may be set by the end user. A reset
command (factory default) issued towards this object will result in all instances being set to their default
values.
Supported Commands
Object:
Get_Attribute
Reset
Instance:
Get_Attribute
Set_Attribute
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance no.
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
Value
‘Network configuration’
01h
0001h
0001h
Instance Attributes (Instance #1, ‘Device ID’)
See also “Device ID” on page 16.
Extended
Changes have immediate effect.
#
1
Name
2
3
4
5
Namea
Data type
Number of elements
Descriptor
Value
6
Configured Value
Access
Get
Type
Array of CHAR
Description
‘Device ID’
Get
Get
Get
Get/Set
UINT8
UINT8
UINT8
UINT16
05h (= UINT16)
01h (one element)
03h (read/write access)
Get
UINT16
1...65535:Valid network address
0:Device not configured (Default)
Configured value for Device ID. The value always equals
the value of attribute #5.
a. Multilingual, see “Multilingual Strings” on page 35.
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Anybus Module Objects 35
Multilingual Strings
The instance names and enumeration strings in this object are multi-lingual, and are translated based on
the current language settings as follows:
Instance
1
English
Device ID
German
Geräteadresse
Spanish
ID Dispos.
Italian
ID Dispos.
French
ID appareil
Reset
When a factory default (reset) command is issued to this object, the configured Device ID will be set to
0 (default value).
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Chapter 5
5. Host Application Objects
5.1 General Information
This chapter specifies the host application object implementation in the module. The objects listed here
may optionally be implemented within the host application firmware to expand the EtherCAT implementation.
Standard Objects:
•
Application Object (see Anybus CompactCom 40 Software Design Guide)
•
Application Data Object (see Anybus CompactCom 40 Software Design Guide)
•
Application File System Interface Object (see Anybus CompactCom 40 Software Design Guide)
•
“Assembly Mapping Object (EBh)” on page 37
•
“Sync Object (EEh)” on page 38
•
Modular Device Object (see Anybus CompactCom 40 Software Design Guide)
Network Specific Objects:
•
“EtherCAT Object (F5h)” on page 41
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Host Application Objects 37
5.2 Assembly Mapping Object (EBh)
Category
Extended
Object Description
If the application has implemented this object, the object will replace the PDO mapping created when
the application is started. The original mapping will be replaced during the transition from PRE-OPERATIONAL state to SAFE-OPERATIONAL state. The application must support the Remap_ADI
commands, if this object is to be implemented.
Each instance in the Assembly Mapping Object corresponds to one PDO. The first read assembly is
mapped to object 1600h in the object dictionary, the second to 1601h and so on. Similarly, the first write
assembly is mapped to object 1A00h, the second to 1A01h and so on. Up to 64 each of read and write
assembly instances are supported.
The table below illustrates an example on how PDO mapping object numbers are assigned for different
assembly mapping object instances.
Instance no.
1
2
3
4
5
Direction
Write
Read
Write
Read
Read
PDO mapping object number
1A00h
1600h
1A01h
1601h
1602h
Each assembly mapping instances supports up to 254 ADI elements, corresponding to one full PDO
on EtherCAT.
Note: If the Modular Device Object is implemented in the host application, i.e. modular device profile
is enabled, the settings of this objects will be ignored.
See also ..
•
Anybus CompactCom 40 Software Design Guide, “Assembly Mapping Object”
•
“Standard Objects” on page 18 for assembly to PDO mapping.
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Host Application Objects 38
5.3 Sync Object (EEh)
Category
Extended
Object Description
This object implements the host application SYNC settings.
The implementation of this object is optional; if it is not implemented, the module only supports the
EtherCAT Free Run mode.
If there is any problem with the configuration of the sync functionality as a whole, the application must
indicate this in the application status register. The module will then change EtherCAT states to SafeOp
and indicate the problem in the ALStatusCode register, see “Application Status Register” on page 40.
See also...
•
Anybus CompactCom 40 Software Design Guide, “Sync”
•
Anybus CompactCom 40 Software Design Guide, “Sync Object”
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Object Attributes (Instance #0)
(Consult the general Anybus CompactCom 40 Software Design Guide for further information.)
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Host Application Objects 39
Instance Attributes (Instance #1)
Extended
The attributes are represented on EtherCAT as follows:
#
1
Name
Cycle time
Access
Get/Set
Type
UINT32
Default Value
2
Output valid
Get/Set
UINT32
0
3
Input capture
Get/Set
UINT32
0
4
Output processinga
Get
UINT32
5
Input processinga
Get
UINT32
6
Min cycle time
Get
UINT32
7
Sync mode
Get/Set
UINT16
8
Supported sync modes
Get
UINT16
Comment
Application cycle time in nanoseconds.
Replaces the setting in object entry 1C32h,
subindex 2. (SM Output Parameter, Cycle
time)
Output valid point relative to SYNC events,
in nanoseconds.
Replaces the setting in object entry 1C32h,
subindex 3. (SM Output Parameter, Shift
time)
Input capture point relative to SYNC events,
in nanoseconds.
Replaces the setting in object entry 1C33,
subindex 3. (SM Input Parameter, Shift time)
Minimum required time, in nanoseconds,
between RDPDI interrupt and valid output.
Specifies the value of object entry 1C32h,
subindex 6. (SM Output Parameter, Output
Calc and Copy Time)
Maximum required time, in nanoseconds,
from “Input capture” until write process data
has been completely written to the Anybus
CompactCom module.
Specifies the value of object entry 1C33h,
subindex 6. (SM Input Parameter, Input Calc
and Copy Time)
Minimum cycle time supported by the application.
Specifies the values of object entries 1C32h
and 1C33h, subindex 5. (SM Output and SM
Input Parameters, Minimum cycle time)
Selection of synchronization mode. The attribute enumerates the bits in attribute 8.
0: Free Run (no sync)
1: Synced with DC
Specifies the values of object entries 1C32h
and 1C33h, subindex 1. (SM Output and SM
Input Parameters, Synchronization type).
A list of the synchronization modes the application supports. Each bit corresponds to a
mode in attribute 7.
Bit 0: 1 = Free run supported
Bit 1: 1 = DC supported
Specifies the values of object entries 1C32h
and 1C33h, subindex 4. (SM Output and
Input Parameters, Synchronization types
supported)
a. The Anybus latency is added to this value before it is presented on EtherCAT.
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Host Application Objects 40
Application Status Register
If the application sets an error status to the application status register (H_APPSTATUS), the module
sets the EtherCAT state to SafeOp. The H_APPSTATUS is translated to the ALStatusCode register as
shown in the table below.
H_APPSTATUS
Error
0000h
No error
0001h
0002h
0003h
0004h
0005h
0006h
0007h
ALStatusCode:
ALSTATUSCODE_XXX (#)
-
Comment
Application can operate in state PROCESS_ACTIVE
Not yet synchro- NOSYNCERROR (002Dh)
Application is not synchronized to the SYNC
nized
signal and not ready to go to PROCESS_ACTIVE.
Sync config error INVALIDSYNCCFG (0030h)
A problem with the configuration of the Sync
host object prevents the application from
going to PROCESS_ACTIVE.
Read process
INVALIDOUTPUTMAPPING
A problem with the current read process data
data configura(0025h)
mapping is prevents the application from
tion error
going to PROCESS_ACTIVE.
Write process
INVALIDINPUTMAPPING (0024h) A problem with the current write process data
data configuramapping is prevents the application from
going to PROCESS_ACTIVE.
tion error
Synchronization FATALSYNCERROR (002Ch)
Application has lost the lock to the synchroniloss
zation. If the module is in state PROCESS_ACTIVE, it will go to ERROR.
Excessive data
NOVALIDINPUTSANDOUTPUTS The application has detected a significant
loss
(002Bh)
loss of process data frames from the network.
If the module is in state PROCESS_ACTIVE,
it will go to ERROR.
Output error
DCSYNCIOERROR (0033h)
A problem in the application prevents it from
acting on outputs. If the module is in state
PROCESS_ACTIVE, it will go to ERROR.
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Host Application Objects 41
5.4 EtherCAT Object (F5h)
Category
Basic, extended
Object Description
This object implements EtherCAT specific settings in the host application.
The implementation of this object is optional; the host application can support none, some, or all of the
attributes specified below. The module will attempt to retrieve the values of these attributes during startup; if an attribute is not implemented in the host application, simply respond with an error message (06h,
“Invalid CmdExt[0]”). In such case, the module will use its default value.
If the module attempts to retrieve a value of an attribute not listed below, respond with an error message
(06h, “Invalid CmdExt[0]”).
Note 1: Support for this object is optional. If implemented, it is highly recommended to support all attributes in the range 1... 6.
Note 2: To pass conformance tests, the end product has to have a Vendor ID valid for the end product
vendor.
See also...
•
Anybus CompactCom 40 Software Design Guide, “Error Codes”
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance no.
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
Value
‘EtherCAT’
01h
01h
01h
Instance Attributes (Instance #1)
Basic
#
1
Name
Vendor ID
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Access
Get
Type
UINT32
Default Value
0000 001Bh
Comment
These values replace the settings in object
entry 1018h. (Identity Object)
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Host Application Objects 42
Extended
#
2
3
4
5
Name
Product Code
Major revision
Minor revision
Serial Number
Access
Get
Get
Get
Get
6
Manufacturer
Device Name
Manufacturer
Hardware Version
Get
8
Manufacturer
Software Version
Get
9
ENUM ADIs
Get
10 Device Type
Get
UINT32
11 Write PD assembly
instance translation
Get
Array of
UINT16
12 Read PD assembly
instance translation
Get
Array of
UINT16
7
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Get
Type
UINT32
UINT16
UINT16
UINT32
Default Value
0000 0034h
Major revision
Minor revision
Unique number, assigned at
production
Array of CHAR Product specific
(Max. 64 bytes)
Array of CHAR X.YY (major
(Max. 64 bytes) version.minor
version)
Array of CHAR X.YY.ZZ (major
(Max. 64 bytes) version.minor
version. build)
Array of
UINT16
Comment
These values replace the settings in object
entry 1018h. (Identity Object)
Replaces object entry 1008h
(Manufacturer Device Name)
Specifies the value of object entry 1009h
(Manufacturer Hardware Version)
Specifies the value of object entry 100Ah
(Manufacturer Software Version)
By default. ENUMs will be translated to
UNSIGNED8 on EtherCAT. By implementing
this attribute, ENUMs will be translated to
ENUMs on the bus as well. The attributes
shall contain a sorted list of ADI instance
numbers which are of type ENUM.
If this attribute is implemented, also implement the optional Application Data Instance
attribute #6 (‘Max. Value’) of all ENUM ADIs,
since this improves performance and functionality of ENUMs on the bus significantly.
Product specific If implemented, this value replaces the
default value for object entry 1000h (Device
type).
Empty
This attribute can be used by the application
to change the default TxPDO mapping
object of Write PD instances in the Assembly Mapping Object. It corresponds to attribute 11 in the Assembly Mapping Object,
“Write PD Instance List”.
Each index in the array contains the TxPDO
mapping object number that is used for the
instance on the same index in the “Write PD
Instance List” attribute.
Valid values: 1A00h - 1BFFh.
Empty
This attribute can be used by the application
to change the default RxPDO mapping
object of Read PD instances in the Assembly Mapping Object. It corresponds to attribute 12 in the Assembly Mapping Object,
“Read PD Instance List”.
Each index in the array contains the RxPDO
mapping object number that is used for the
instance on the same index in the “Read PD
Instance List” attribute.
Valid values: 1600h - 17FFh.
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Host Application Objects 43
# Name
13 ADI translation
Access
Get
Type
Array of Struct
{
UINT16
UINT16
}
Default Value
Empty
14 (Reserved)
15 Object subindex
translation
Get
Array of Struct
{
UINT16
UINT16
UINT8
}
Empty
Comment
This attribute can be used by the application
to implement objects in the communication
profile specific CoE object area (1000h 1FFFh). Objects already implemented in the
module cannot be replaced by ADIs.
The attribute is implemented as an array of
packed structs of two UINT16. The first
UINT16 contains the ADI instance number,
the second contains the object index that the
ADI shall correspond to.
See example: “ADI Translation, Example”
(Reserved for future use)
This attribute can be used by the application
to implement subindices of objects in the
profile specific CoE object area (0x10000x1FFF). Subindices already implemented
in the module cannot be replaced by ADIs
and this attribute can only be used to add
subindices to objects explicitly defined in the
module to be extendable.
This attribute is currently only supported to
add subindices to objects 0x1C32 (“Output
Sync Manager Parameter”) and 0x1C33
(“Input Sync Manager Parameter”).
16 Enable FoE
Get
BOOL
TRUE (=1)
The attribute is implemented as an array of
packed Structs of two UINT16 and one
UINT8. The first UINT16 contains the ADI
instance number, the second contains the
object index that the ADI shall correspond
to. The UINT8 contains the subindex of the
latter object that the ADI shall correspond to.
An object dictionary index/subindex entry
may only be translated to an ADI of type
VAR. Translating the entry to an ADI of type
ARRAY or RECORD is not supported.
See: “Object Subindex Translation, Example”
This attribute enables/disables functionality
related to File access over EtherCAT. If FoE
is disabled it is not possible to upgrade firmware via EtherCAT or access the Application
File System Interface Object (EAh) via EtherCAT.
ADI Translation, Example
The host application wants to implement the diagnostic object (10F3h) and the timestamp object
(10F8h). To do this it needs to create two ADIs that match the CoE implementation of these objects,
e.g. ADI F0F3h for the diagnostic object and F0F8 for the timestamp object. It then needs to implement
the following data for the ADI translation attribute:
[
{
F0F3h
10F3h
}
{
F0F8h
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Host Application Objects 44
10F8h
}
]
SDO requests towards these CoE objects will then be forwarded to the corresponding ADI. If a CoE
object present in this attribute is implemented by the module, the module will handle all requests to that
object by itself, and nothing is forwarded to the host application.
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Host Application Objects 45
Object Subindex Translation, Example
The host application wants to implement the Sync Error subindex (subindex 32) of the 0x1C32 and
0x1C33 objects. To do this it needs to create two ADIs that match the CoE implementation of these
entries. Let’s say it creates ADI 0xF0FD for entry 0x1C32:32 and ADI 0xF0FE for entry 0x1C33:32. It
then needs to implement the following data for the “Object subindex translation” attribute:
[
{
0xF0FD
0x1C32
32
}
{
0xF0FE
0x1C33
32
}
]
SDO requests towards these CoE object/subindex entries will then be forwarded to the corresponding
ADI.
If a CoE entry present in this attribute is implemented by the module, the module will handle all requests
to that entry by itself, as it will if the object does not support being extended with more subindices, and
nothing is forwarded to the host application.
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Appendix A
A. Categorization of Functionality
The objects, including attributes and services, of the Anybus CompactCom and the application are divided into two categories: basic and extended.
A.1 Basic
This category includes objects, attributes and services that are mandatory to implement or to use. They
will be enough for starting up the Anybus CompactCom and sending/receiving data with the chosen
network protocol. The basic functions of the industrial network are used.
Additional objects etc, that will make it possible to certify the product also belong to this category.
A.2 Extended
Use of the objects in this category extends the functionality of the application. Access is given to the
more specific characteristics of the industrial network, not only the basic moving of data to and from
the network. Extra value is given to the application.
Some of the functionality offered may be specialized and/or seldom used. As most of the available network functionality is enabled and accessible, access to the specification of the industrial network may be
required.
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Appendix B
B. Implementation Details
B.1 SUP-Bit Definition
The supervised bit (SUP) indicates that the network participation is supervised by another network device. In the case of EtherCAT, this functionality is mapped to the SyncManager watchdog, which can
be used to detect loss of communication with the master. The SyncManager watchdog is enabled by the
master.
EtherCAT-specific interpretation:
SUP-bit
0
Interpretation
SyncManager Watchdog is disabled or not running.
1
SyncManager Watchdog is enabled and running.
Note: The watchdog and supervised bit (SUP) will not be available if the Read Process Data size is zero.
B.2 Anybus State Machine
The table below describes how the Anybus State Machine relates to the EtherCAT network status.
Anybus State
WAIT_PROCESS
Corresponding EtherCAT State
INIT, BOOTSTRAP or PRE-OPERATIONAL
ERROR
(‘Error Ind’-bit in ‘AL-Status’ is set)
PROCESS_ACTIVE OPERATIONAL
IDLE
SAFE-OPERATIONAL
EXCEPTION
(EtherCAT interface is forced to INIT state, and the master is informed that a power cycle is
required to resume communication)
B.3 Application Watchdog Timeout Handling
The Anybus CompactCom 40 EtherCAT module will enter the EXCEPTION state if the application
watchdog times out.
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Appendix C
C. Technical Specification
C.1 Front View
Ethernet Connector
#
1
Item
2
ERROR LEDa
EtherCAT (IN port)
EtherCAT (OUT port)
Link/Activity (IN port)
Link/Activity (OUT port)
3
4
5
6
RUN LEDa
5
6
1
2
3
4
a. The flash sequences for these LEDs are defined in ETG1300_S_R_V1i1i0_IndicatorLabelingSpecification.pdf
(ETG).
RUN LED
This LED reflects the status of the EtherCAT communication.
LED State
Off
Green
Green, blinking
Green, single flash
Flickering
Reda
Indication
INIT
OPERATIONAL
PRE-OPERATIONAL
SAFE-OPERATIONAL
BOOT
(Fatal Event)
Description
EtherCAT device in ‘INIT’-state (or no power)
EtherCAT device in ‘OPERATIONAL’-state
EtherCAT device in ‘PRE-OPERATIONAL’-state
EtherCAT device in ‘SAFE-OPERATIONAL’-state
The EtherCAT device is in ‘BOOT’ state
-
a. If RUN and ERR turn red, this indicates a fatal event, forcing the bus interface to a physically passive state. Contact HMS technical support.
ERR LED
This LED indicates EtherCAT communication errors etc.
LED State
Off
Red, blinking
Indication
No error
Invalid configuration
Red, single flash
Unsolicited state change
Red, double flash
Application watchdog timeout
Application controller failure
Description
No error (or no power)
State change received from master is not possible due to
invalid register or object settings.
Slave device application has changed the EtherCAT state
autonomously.
Sync manager watchdog timeout.
Anybus module in EXCEPTION.
Booting error detected
E.g. due to firmware download failure.
Reda
Flickering
a. If RUN and ERR turn red, this indicates a fatal event, forcing the bus interface to a physically passive state. Contact HMS technical support.
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Technical Specification 49
Link/Activity
These LEDs indicate the EtherCAT link status and activity.
LED State
Off
Green
Green, flickering
Indication
No link
Link sensed, no activity
Link sensed, activity
Description
Link not sensed (or no power)
Link sensed, no traffic detected
Link sensed, traffic detected
Ethernet Connector (RJ45)
Pin
1
2
3
4
5
6
7
8
Signal
Tx+
TxRx+
Rx-
Notes
Normally left unused; to ensure signal integrity, these pins are tied together
and terminated to PE via a filter circuit in the module.
Normally left unused; to ensure signal integrity, these pins are tied together
and terminated to PE via a filter circuit in the module.
1
8
C.2 Protective Earth (PE) Requirements
In order to ensure proper EMC behavior, the module must be properly connected to protective earth
via the PE pad / PE mechanism described in the general Anybus CompactCom 40 Hardware Design
Guide.
HMS Industrial Networks does not guarantee proper EMC behaviour unless these PE requirements are
fulfilled.
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Technical Specification 50
C.3 Power Supply
Supply Voltage
The module requires a regulated 3.3V power source as specified in the general Anybus CompactCom 40
Hardware Design Guide.
Power Consumption
The Anybus CompactCom EtherCAT is designed to fulfil the requirements of a Class B module. For
more information about the power consumption classification used on the Anybus CompactCom platform, consult the general Anybus CompactCom Hardware Design Guide.
The current hardware design consumes up to 430 mA1.
Note: It is strongly advised to design the power supply in the host application based on the power consumption classifications described in the general Anybus CompactCom Hardware Design Guide, and
not on the exact power requirements of a single product.
C.4 Environmental Specification
Consult the Anybus CompactCom Hardware 40 Design Guide for further information.
C.5 EMC Compliance
Consult the Anybus CompactCom Hardware 40 Design Guide for further information.
1. Note that in line with HMS policy of continuous product development, we reserve the right to change the
exact power requirements of this product without prior notification. Note however that in any case, the
Anybus CompactCom 40 EtherCAT will remain as a Class B module.
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Appendix D
D. Timing & Performance
D.1 General Information
This chapter specifies timing and performance parameters that are verified and documented for the
Anybus CompactCom 40 EtherCAT.
The following timing aspects are measured:
Category
Startup Delay
NW_INIT Handling
Event Based WrMsg Busy Time
Event Based Process Data Delay
Parameters
T1, T2
T100
T103
T101, T102
Page
51
51
52
52
For further information, please consult the Anybus CompactCom 40 Software Design Guide.
D.2 Internal Timing
D.2.1 Startup Delay
The following parameters are defined as the time measured from the point where /RESET is released
to the point where the specified event occurs.
Parameter
T1
T2
Description
Max.
The Anybus CompactCom 40 EtherCAT module generates the first application inter- 11
rupt (parallel mode)
The Anybus CompactCom 40 EtherCAT module is able to receive and handle the first 11
application telegram (serial mode)
Unit.
ms
ms
D.2.2 NW_INIT Handling
This test measures the time required by the Anybus CompactCom 40 EtherCAT module to perform the
necessary actions in the NW_INIT-state.
Parameter
No. of network specific commands
No. of ADIs (single UINT8) mapped to Process Data in each direction
Event based application message response time
Ping-pong application response time
No. of simultaneously outstanding Anybus commands that the application can handle
Conditions
Max.
32a
> 1 ms
> 10 ms
1
a. Or maximum amount in case the network specific maximum is less.
Parameter
T100
Description
NW_INIT handling
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Communication
Event based modes
Max.
3.6
Unit.
ms
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Timing & Performance 52
D.2.3 Event Based WrMsg Busy Time
The Event based WrMsg busy time is defined as the time it takes for the module to return the
H_WRMSG area to the application after the application has posted a message.
Parameter
T103
Description
H_WRMSG area busy time
Min.
2.8
Max.
7.2
Unit.
μs
D.2.4 Event Based Process Data Delay
“Read process data delay” is defined as the time from when the last bit of the network frame has been
received by the network interface, to when the RDPDI interrupt is asserted to the application.
“Write process data delay” is defined as the time from when the application exchanges write process
data buffers, to when the first bit of the new process data frame is sent out on the network.
The tests were run in 16-bit parallel event mode, with interrupts triggered only for new process data
events. Eight different IO sizes (2, 16, 32, 64, 128, 256, 512 and 1024 bytes) were used in the tests, all
giving the same test results.
The delay added by the PHY circuit has not been included, as this delay is insignificant compared to the
total process data delay.
Parameter
T101
T102
Description
Read process data delay
Write process data delay
Delay (min.)
-
Delay (typ.)
-
Delay (max.)
228
170
Unit
ns
ns
Anybus
Ethernet
Network
Ethernet
connector
Ethernet
Trafo
Ethernet
PHY
NP40
Host
connector
Host Application
Host
connector
Host Application
Read process data delay
Anybus
Ethernet
Network
Ethernet
connector
Ethernet
Trafo
Ethernet
PHY
NP40
Write process data delay
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Appendix E
E. Copyright Notices
Format - lightweight string formatting library.
Copyright (C) 2010-2013, Neil Johnson
All rights reserved.
Redistribution and use in source and binary forms,
with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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