BECKHOFF ET9300 - Manual (Page 7)

Application Note ET9300 5
FIGURES
Figure 1: EtherCAT Slave Stack Code .................................................................................................. 11
Figure 2: File-Stack Association ............................................................................................................ 11
Figure 3: RxPdo data of an EtherCAT slave ......................................................................................... 36
Figure 4: EL9800 Application object ranges.......................................................................................... 45
Figure 5: Send EoE datagram ............................................................................................................... 48
Figure 6: Receive EoE datagram .......................................................................................................... 49
Figure 7: EoE Example 1 (Schema) ...................................................................................................... 50
Figure 8: Network card settings ............................................................................................................. 51
Figure 9: Access EtherCAT Slave Settings ........................................................................................... 51
Figure 10: EoE EtherCAT Slave Settings .............................................................................................. 52
Figure 11: Ping Command Window ....................................................................................................... 52
Figure 12: EoE Example 2 (Schema) .................................................................................................... 53
Figure 13: Enable IP Routing WinXP .................................................................................................... 53
Figure 14: Enable IP Routing WinCE .................................................................................................... 54
Figure 15: ESC Interrupt Signals ........................................................................................................... 55
Figure 16: Free Run .............................................................................................................................. 57
Figure 17: SyncManager Synchronization ............................................................................................ 57
Figure 18: SM/Sync0 Synchronization .................................................................................................. 58
Figure 19: SM/Sync0/Sync1 Synchronization ....................................................................................... 58
Figure 20: Sync0 Synchronization ......................................................................................................... 59
Figure 21: Sync0/Sync1 Synchronization .............................................................................................. 59
Figure 22: Subordinated Cycles ............................................................................................................ 60
Figure 23: CiA402 state transitions and option codes ........................................................................... 63
Figure 24: Axis configuration ................................................................................................................. 65
Figure 25: Set device variable without PLC link .................................................................................... 66
Figure 26: Scan for new EtherCAT devices with TwinCAT 2 ................................................................ 66
Figure 27: Scan for new EtherCAT devices with TwinCAT 3 ................................................................ 67
Figure 28: TwinCAT 2 CiA402 axis setup ............................................................................................. 67
Figure 29: TwinCAT 3 CiA402 axis setup ............................................................................................. 68
Figure 30: Add CiA402 device ............................................................................................................... 68
Figure 31: Link multiple variables .......................................................................................................... 69
Figure 32: Encoder scaling .................................................................................................................... 70
Figure 33: Velocity scaling..................................................................................................................... 70
Figure 34: Configurator Main User Interface ......................................................................................... 77
Figure 35: Configurator File Menu ......................................................................................................... 78
Figure 36: Create New Project .............................................................................................................. 78
Figure 37: Configurator Project Menu ................................................................................................... 78
Figure 38: Find Setting Dialog ............................................................................................................... 79
Figure 39: Tool Menu ............................................................................................................................ 79
Figure 40: Tool Options ......................................................................................................................... 80
Figure 41: Configurator Locked Setting ................................................................................................. 80
Figure 42: Configurations List................................................................................................................ 81
Figure 43: Configurator Help Menu ....................................................................................................... 81
Figure 44: Configurator Project Information .......................................................................................... 82
Figure 45: Configurator File Context Menu ........................................................................................... 82
Figure 46: Configurator Slave Settings ................................................................................................. 83
Figure 47: Configurator Create Files ..................................................................................................... 84
Figure 48: Configurator Slave Stack Code Update ............................................................................... 84
Figure 49: Configurator Project Update Dialog ..................................................................................... 85
Figure 50: New Project | Import Configuration ...................................................................................... 86
Figure 51: Options | Import Configuration ............................................................................................. 86
Figure 52: SSC OD Tool workflow ........................................................................................................ 87
Figure 53: Excel application definition example .................................................................................... 87
Figure 54: Application file comment ...................................................................................................... 88
Figure 55: EEPROM Programming Tool ............................................................................................... 92
Figure 56: EEPROM Programmer | File ................................................................................................ 93
Figure 57: EEPROM Programmer | Slaves ........................................................................................... 93
Figure 58: EEPROM Programmer | List Elements ................................................................................ 93