Post on 24-Apr-2020
TPM 207-C244D Object Dictionary Manual
1
207-C244D
Object Dictionary Manual
Version: V1.0 2018 Jan. 12
To properly use the product, read this manual thoroughly is necessary.
Part No.: 81-18C244D-010
TPM 207-C244D Object Dictionary Manual
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Revision History
Date Revision Description
2018/01/12 1.0 Document creation.
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© Copyright 2018 TPM The product, including the product itself, the accessories, the software, the manual and the software
description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted,
transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except
the documentation kept by the purchaser for backup purposes.
The names of products and corporations appearing in this manual may or may not be registered trademarks,
and may or may not have copyrights of their respective companies. These names should be used only for
identification or explanation, and to the owners’ benefit, should not be infringed without any intention.
The product’s name and version number are both printed on the product itself. Released manual visions for
each product design are represented by the digit before and after the period of the manual vision number.
Manual updates are represented by the third digit in the manual vision number.
Trademark
MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered
trademarks of Microsoft.
BCB (Borland C++ Builder) is registered trademark of Borland.
Other product names mentioned herein are used for identification purposes only and may be trademarks
and/or registered trademarks of their respective companies.
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Electrical safely
To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating
the system.
When adding or removing devices to or from the system, ensure that the power cables for the devices are
unplugged before the signal cables are connected. Disconnect all power cables from the existing system
before you add a device.
Before connecting or removing signal cables from motherboard, ensure that all power cables are
unplugged.
Seek professional assistance before using an adapter or extension card. These devices could interrupt the
grounding circuit.
Make sure that your power supply is set to the voltage available in your area.
If the power supply is broken, contact a qualified service technician or your retailer.
Operational safely
Please carefully read all the manuals that came with the package, before installing the new device.
Before use the product, ensure all cables are correctly connected and the power cables are not damaged. If
the power cables are detected damaged, contact the dealer immediately.
To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and
circuitry.
Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may
become wet.
If you encounter technical problems with the product, contact a qualified service technician or the dealer.
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Contents
CONTENTS ............................................................................................................................................................................ 5
1. ETHERCAT INTRODUCTION ............................................................................................................................................ 7
1.1 INTRODUCTION ................................................................................................................................................................ 7
1.2 SYSTEM CONFIGURATIONS .............................................................................................................................................. 8
1.3 DATA TRANSITION ............................................................................................................................................................ 8
1.4 ETHERCAT TOOL: TWINCAT ............................................................................................................................................ 9
2. PRODUCT OVERVIEW .................................................................................................................................................... 10
2.1 NAMING RULE ............................................................................................................................................................... 10
2.2 DIMENSION ................................................................................................................................................................... 10
2.3 SPECIFICATION .............................................................................................................................................................. 11
2.4 CONNECTION ................................................................................................................................................................ 12
2.4.1 Rotary Switch Description .................................................................................................................... 13
2.4.2 LED Description .................................................................................................................................... 14
2.4.3 EtherCAT Communication .................................................................................................................... 17
2.4.4 Power Connector .................................................................................................................................. 20
2.4.5 Carrier Board ........................................................................................................................................ 21
2.5 SIGNAL CIRCUIT ............................................................................................................................................................ 22
3. TWINCAT 3 OPERATION ................................................................................................................................................. 24
3.1 INSTALL THE ESI DEVICE DESCRIPTION .......................................................................................................................... 24
3.2 CREATE THE ETHERCAT DEVICE ................................................................................................................................... 25
3.3 SCAN THE ETHERCAT DEVICE ....................................................................................................................................... 34
APPENDIX A BASIC INFORMATION .................................................................................................................................. 38
A.1 SYMBOLS AND ABBREVIATIONS ...................................................................................................................................... 38
A.2 DATA TYPES ................................................................................................................................................................. 39
A.3 UNIT NOTATION ............................................................................................................................................................. 40
A.4 SPECIFICATION LIST ...................................................................................................................................................... 41
A.5 ESM (ETHERCAT STATE MACHINE) .............................................................................................................................. 42
APPENDIX B PROCESS DATA OBJECTS (PDOS) ........................................................................................................... 44
B.1 TXPDO LIST [SLAVE TRANSMITS DATA TO MASTER] ........................................................................................................ 44
B.1.1 4-Ch. Digital Inputs (6000h) ................................................................................................................. 45
B.1.2 Encoder Counter Inputs (60n0h) .......................................................................................................... 45
B.2 RXPDO LIST [MASTER TRANSMITS DATA TO SLAVE] ........................................................................................................ 46
B.2.1 4-Ch. Digital Outputs (7000h) .............................................................................................................. 46
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B.2.2 Encoder Counter Setting (70n0h) ........................................................................................................ 47
APPENDIX C SERVICE DATA OBJECTS (SDOS) ............................................................................................................. 48
C.1 STATION ALIAS (4000H) ................................................................................................................................................ 49
C.1.1 Device Addressing ............................................................................................................................... 50
C.2 RETAIN VARIABLE OPERATION (4005H) .......................................................................................................................... 53
C.2.1 Enter / Exit Retain Operation ............................................................................................................... 54
C.2.2 Save Retain Parameters to Flash Memory .......................................................................................... 55
C.2.3 Load Default Parameters from Flash Memory ..................................................................................... 56
C.3 ENCODER INPUT MODES (8000H).................................................................................................................................. 57
C.3.1 Encoder Operational Process .............................................................................................................. 58
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1. EtherCAT Introduction
1.1 Introduction
EtherCAT® is an ultra-high-speed serial communication system. This technology is widely applied in factory
and machinery automation industries. EtherCAT® is real-time down to the I/O level. The transmission rate of
EtherCAT® is 2 x 100 Mbit/s, which makes it the fastest ethernet. Each EtherCAT® slave device reads and
writes the data by the function of "on the fly". One can extract or insert bits or bytes without suspending the
system. Each EtherCAT® segment can connect up to 65,535 nodes. With 100BASE-TX, the distance between
two nodes is up to 100M with EtherCAT® . With 100BASE-FX (fiber optics), the distance between two nodes
is longer than 100M.
Precise synchronization is one of the features of EtherCAT® . The Distributed Clocks (DC) can adjust the
time of Master and Slaves to achieve the synchronization. The time of synchronization is less than 1μs.
EtherCAT® also leads to lower solution costs because of the low cost slave controller with FPGA, small
volume with EtherCAT® instead of IPC, and so on. EtherCAT® is IEC, ISO, and SEMI standard protocol.
The slave controller can provide interoperability. The master stacks are suitable for various Real-time
Operating System (RTOS).
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1.2 System Configurations
1.3 Data Transition
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1.4 EtherCAT Tool: TwinCAT
TwinCAT® is the EtherCAT® tool which is developed by Beckhoff. The TwinCAT® (The Windows Control
and Automation Technology) automation suite forms the core of the control system. The TwinCAT® software
system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or
robotics runtime systems.
All TPM modules can be tested with TwinCAT® easily. With the RJ45 cable, EtherCAT® Master and
EtherCAT® slaves can connect to achieve the control system. EZE-xxx model names will be displayed on
TwinCAT® for users to operate system conveniently. Carrier specific model name will not be listed.
Figure 0-1: illustration of the wiring topology of Motionnet master and slaves
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2. Product Overview
2.1 Naming Rule
2 0 7 - C 2 4 4 D EtherCAT Plug-in module Counter
EtherCAT
series 4 IN 4 OUT
4 DI
4DO
2.2 Dimension
12
2 m
m
66mm
CN6CN5
CN7
CN0 CN1
CN2 CN3
00
10
03
13
P0 P1 R E
SW1
SW2
Figure 2-1: Dimension
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2.3 Specification
EtherCAT
Serial interface Fast Ethernet, Full-Duplex
Distributed Clock 1ms
Cable type CAT5 UTP/STP Ethernet cable
Surge protection 10KV
Transmission speed 100 Mbps
Communication type DC
Encoder
I/O isolation voltage 3750Vrms
Encoder Ch. 4-Ch. independent 32-bit counter
Encoder input
frequency Max. 4MHz
Input type CMP x2, 255 Points / Ch.
Isolated input voltage Logic level 0: Max. 1V
Logic level 1: 5V or 24V
Incremental encoder ±EA x4, ±EB x4
Digital I/O
Isolated digital input IN x 4
Isolated digital output OUT x 4
General
Power input 24VDC±10%
Power consumption 3W typical
Working temperature 0 to 60°C
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2.4 Connection
12
2 m
m
66mm
CN6CN5
CN7
CN0 CN1
CN2 CN3
00
10
03
13
P0 P1 R E
SW1
SW2
Label Function
CN0 I/O Signal Connector
CN1 I/O Signal Connector
CN2 I/O Signal Connector
CN3 I/O Signal Connector
CN5 EtherCAT Communication IN
CN6 EtherCAT Communication OUT
CN7 Power Connector
SW1 Address Switch1
SW2 Address Switch2
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2.4.1 Rotary Switch Description
98
mm
24.5mm
Front Rear
Gold Finger
00
10
03
13
P0 P1 R E
SW1
SW2
Label Description Value
SW1 node number_L 0 ~ 15
SW2 node number_H 0 ~ 15
Node IP settings:
The node number
= 16 * SW2 + 1 * SW1
e.g.
SW1 = 10, SW2 =2
The node number will be set as “16 * 2 + 1 * 10=
42”
*Default value is 0.
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2.4.2 LED Description
98 mm
24.5mm
Front Rear
Gold Finger
00
10
03
13
P0 P1 R E
SW1
SW2
00
10
03
13
P0 P1 R E
SW1
SW2
00 01 02 03
PORT#0(DI)
PORT#1(DO)
10 11 12 13
Disp Label
00 Port#0 Bit0
01 Port#0 Bit1
02 Port#0 Bit2
03 Port#0 Bit3
10 Port#1 Bit0
11 Port#1 Bit1
12 Port#1 Bit2
13 Port#1 Bit3
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98 mm
24.5mm
Front Rear
Gold Finger
00
10
03
13
P0 P1 R E
SW1
SW2
00
10
03
13
P0 P1 R E
SW1
SW2
P0 P1 R E
There are four patterns below indicating the LED status besides ON and OFF.
Pattern 1: Flickering
50ms 50ms
Figure 2-2: Flickering pattern
LED Description
P0 - Yellow DC +24V In Normal Level
P1 - Yellow DC +5V Supply for Internal
R - Green In Normal Communication
E - Red Error Communication
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Pattern 2: Blinking
200ms200ms
Figure 2-3: Blinking pattern
Pattern 3: Single flash
200ms
Figure 2-4: Single flash pattern
Pattern 4: Double flash
200ms200ms
200ms1000ms
Figure 2-5: Double flash pattern
Run Indicator
Run Indicator indicates the ESM (EtherCAT® State Machine) status. LED lights in green.
LED Status Meaning
OFF ESM: In INIT state
Blinking ESM: In Pre-operational state
Single Flash ESM: In Safe-operational state
ON ESM: Operation state
Error Indicator
Error Indicator indicates an alarm defined in the AL Status Code. LED Lights in red.
LED Status Meaning
OFF No occurrence of alarms defined in the AL status code
Blinking Communication setup error
Single flash Synchronous event error
Double flash Application watchdog timeout
Flickering Initialization error
ON PDI error
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2.4.3 EtherCAT Communication
Communication IN and OUT
CN2CN1
1 1
INO
UT
No. Description
1 TX+
2 TX-
3 RX+
4 -
5 -
6 RX-
7 -
8 -
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EtherCAT LED Status
There are four patterns below indicating the LED status besides ON and OFF.
Pattern 1: Flickering
50ms 50ms
Figure 2-6: Flickering pattern
Pattern 2: Blinking
200ms200ms
Figure 2-7: Blinking pattern
Pattern 3: Single flash
200ms
Figure 2-8: Single flash pattern
LED Description
Left
(Orange)
Link/Activity indicator:
Blinking – There is activity on this port.
Off – No link is established.
Right
(Green)
Speed indicator:
Green on – Operating as a 100/1000-Mbps
connection.
Off – Operating as a 10-Mbps connection.
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Pattern 4: Double flash
200ms200ms
200ms1000ms
Figure 2-9: Double flash pattern
RUN Indicator
Run Indicator indicates the ESM (EtherCAT State Machine) status. LED lights in green.
LED Status Meaning
OFF ESM: In INIT state
Blinking ESM: In Pre-operational state
Single Flash ESM: In Safe-operational state
ON ESM: Operation state
Error Indicator
Error Indicator indicates an alarm defined in the AL Status Code. LED Lights in red.
LED Status Meaning
OFF No occurrence of alarms defined in the AL status code
Blinking Communication setup error
Single flash Synchronous event error
Double flash Application watchdog timeout
Flickering Initialization error
ON PDI error
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2.4.4 Power Connector
No. Label Description
1 24V DC 24V Input
2 GND DC 24V ground
3 FG Field ground
4 24V DC 24V Input
5 GND DC 24V ground
6 FG Field ground
1
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2.4.5 Carrier Board
CN6CN5
CN7
CN0 CN1
CN2 CN3
CN0 CN1
00
10
03
13
P0 P1 R E
SW1
SW2
CN0
Pin Label Function
P00 IN_00 Port#0 Bit0 Input
P01 IN_01 Port#0 Bit1 Input
P02 IN_02 Port#0 Bit2 Input
P03 IN_03 Port#0 Bit3 Input
P04 - -
P05 - -
P06 - -
P07 - -
P0A 24V DC 24V Output
P0B GND DC 24V Ground
CN1
Pin Label Function
P10 EAX+ ENC_X A phase (+)
P11 EAX- ENC_X A phase (-)
P12 EBX+ ENC_X B phase (+)
P13 EBX- ENC_X B phase (-)
P14 EAY+ ENC_Y A phase (+)
P15 EAY- ENC_Y A phase (-)
P16 EBY+ ENC_Y B phase (+)
P17 EBY- ENC_Y B phase (-)
P1A DC5V DC 5V Output
P1B G5V DC 5V Ground
CN6CN5
CN7
CN0 CN1
CN2 CN3
CN2 CN3
00
10
03
13
P0 P1 R E
SW1
SW2
CN2
Pin Label Function
P20 Out_10 Port#1 Bit0 Output
P21 Out_11 Port#1 Bit1 Output
P22 Out_12 Port#1 Bit2 Output
P23 Out_13 Port#1 Bit3 Output
P24 - -
P25 - -
P26 - -
P27 - -
P2A 24V DC 24V Output
P2B GND DC 24V Ground
CN3
Pin Label Function
P30 EAZ+ ENC_Z A phase (+)
P31 EAZ- ENC_Z A phase (-)
P32 EBZ+ ENC_Z B phase (+)
P33 EBZ- ENC_Z B phase (-)
P34 EAU+ ENC_U A phase (+)
P35 EAU- ENC_U A phase (-)
P36 EBU+ ENC_U B phase (+)
P37 EBU- ENC_U B phase (-)
P3A DC5V DC 5V Output
P3B G5V DC 5V Ground
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2.5 Signal Circuit
Encoder Input Circuit
6
5
4 3
1
EA-
EA+
Internal Curcuit
13
2
AM26C31
100
100
20mA
Differential line driver encoder input
6
5
4 3
1
EA-
EA+
Internal Curcuit
100
100
Pulse input
GND
Pulse10mA
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Digital Input Signal Circuit (NPN type)
Digital Output Signal Circuit (NPN type)
GND
5.6K
+24V
Internal Circuit
Input Signal
GND
5.6K
+24V
Internal Circuit
Input Signal
+24V
GND Internal Circuit
Output Signal
R > 1.2K
I < 350mA
+24V
GND Internal Circuit
Output Signal Relay_1NO I < 350mA
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3. TwinCAT 3 Operation
3.1 Install the ESI Device Description
Step 1 Copy the ESI file “EZE_C244D_V1110D.xml”.
Figure 3-1: ESI file
Note Please update the latest ESI file. If there is any question, please contact your vendor.
Step 2 Paste the ESI file into the EtherCAT Master PC’s folder:
C:\TwinCAT\3.1\Config\Io\EtherCAT
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3.2 Create the EtherCAT Device
Step 1 Provide a name to this project “207-C244_Test”.
Figure 3-2: New project
Step 2 Click button “OK” to finish creating the project.
Figure 3-3: New project
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Step 3 To create one EtherCAT Master, right click on “Devices”.
Figure 3-4: I/O list
Step 4 Select “Add New Item”.
Figure 3-5: Device → Add new item
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Step 5 Select “EtherCAT Master”.
Figure 3-6: EtherCAT Master
Step 6 Click button “OK”.
Figure 3-7: EtherCAT Master
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Step 7 Select your “Local LAN”.
Figure 3-8: Local LAN
Step 8 Click button “OK”.
Figure 3-9: Local LAN
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Step 9 The “Device 1” will show in the list.
Figure 3-10: Device 1 EtherCAT Master
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Step 10 Double click “Device 1”, and select “Adapter”.
Step 11 The detailed information of the Device will show at “Description”, “Device Name”,
“MAC Address”, and “IP Address”.
Figure 3-11: Device 1 → Adapter
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Step 11-1 If the detailed information of the Device isn’t shown, please select “Compatible Devices”.
Figure 3-12: Device 1 EtherCAT Master missed
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Step 11-2 Select your “Local LAN”, and click button “Install”.
Figure 3-13: Local LAN
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Step 11-3 Click “Search”, select your “Local LAN”, and click button “OK”.
Figure 3-14: Search Local LAN
Figure 3-15: Local LAN
Step 11-4 After finishing the above steps, the detailed information of the Device will show at
“Description”, “Device Name”, “MAC Address”, and “IP Address”.
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3.3 Scan the EtherCAT Device
Step 1 Right click on “Device 1”.
Figure 3-16: I/O list
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Step 2 Select “Scan”.
Figure 3-17: Device 1 → Scan
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Step 3 The name of the slave will be shown as “EZE-C244”.
Figure 3-18: Box 1 (EZE-C244D)
Step 4 If the slave is not found, please do the following steps.
Figure 3-19: EZE-C244D missed
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Step 4-1 Double click “Box 1” with green point.
Figure 3-20: EZE-C244D missed
Step 4-2 Click “EtherCAT”, and check the “Version” of the slave.
Step 4-3 Check if the version is the same with the ESI file.
Figure 3-21: Version check
1010100 V11 10
Decimal Hexadecimal
Hardware Version Firmware Version
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Appendix A Basic Information
A.1 Symbols and Abbreviations
Abbreviation Term Description
AL AL-layer EtheCAT Application Layer Service
CiA CAN in Automation A non-profit organization established in 1992 as a joint venture between
companies to provide CAN technical information, product information, and
marketing information.
CAN Controller Area Network Communications protocol for the physical layer and data link layer established
for automotive LANs. It was established as an international standard as ISO
11898.
CANopen CANopen An upper-layer protocol based on the international CAN standard (EN
50325-4). It consists of profile specifications for the application layer,
communications, applications, devices, and interfaces.
CoE CANopen over EtherCAT A network that uses Ethernet for the physical layer, EtherCAT for the data link
layer, and CANopen for the application layer in a seven-layer OSI reference
model.
DC Distributed Clocks A clock distribution mechanism that is used to synchronize
the EtherCAT slaves with the EtherCAT master.
EEPROM Electrically Erasable
Programmable Read Only
Memory
A ROM that can be electrically overwritten.
ESC EtherCAT Slave Controller A hardware chip that processes EtherCAT communications
(such as loopbacks) and manages the distributed clock.
ESM EtherCAT State Machine A state machine in which the state of EtherCAT (the data link
layer) changes according to transition conditions.
ETG EtherCAT Technology Group An international organization established in 2003 to provide
support for developing EtherCAT technologies and to promote
the spread of EtherCAT technologies.
EtherCAT Ethernet for Control
Automation Technology
An open network developed by Beckhoff Automation.
FMMU Fieldbus Memory
Management Unit
A unit that manages fieldbus memory.
INIT INIT The Init state in the EtherCAT state machine.
OP Object Dictionary A group of objects and structure supported by an EtherCAT
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SERVOPACK.
PDI Physical Device Internal
Interface
A set of elements that allows access to DL-Service from the AL
PDO Process Data Object Objects that are sent and received in cyclic communications.
PDO mapping
Definitions
Process Data Object Mapping Definitions of the applications objects that are sent with
PDOs.
SDO Service Data Object Objects that are sent and received in mailbox communications.
PREOP PRE-OPERATIONAL The Pre-operational state in the EtherCAT state machine.
RXPDO Receive Process Data Object The process data received by the ESC.
TXPDO Transmit Process Data Object The process data sent by the ESC.
SM Sync. Manager The ESC unit that coordinates data exchange between the master and slaves.
ro Read only COE Object just can be read only
rw Read & write COE Object just can be read and written .
SAVE Save to flash memory There is flash memory on K121 which can be used to save retain variables .
STLD Step Loss Detection Function is used to detect the loss of stepper motor when it is running.
FoE File transfer over EtherCAT File can transfer over EtherCAT like Ethernet operation.
A.2 Data Types
The following table lists the data types and ranges that are used in this manual
Symbol Data Type Range
BOOL boolean True or False
I8 Signed 8 bit integer -128 to 127
I16 Signed 16 bit integer -32,768 to 32,767
I32 Signed 32 bit integer -2,147,483,648 to 2,147,483,627
U8 Unsigned 8 bit integer 0 to 255
U16 Unsigned 16 bit integer 0 to 65535
U32 Unsigned 32 bit integer 0 to 4,294,967,295
F32 32 bit float
F64 64 bit double float
STRING Character string –
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A.3 Unit Notation
The following table lists the data units and notations that are used in this manual.
Notation Description
Inc. Encoder Input pulse
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A.4 Specification List
Item Specification
Physical layer 100 BASE-TX (IEEE802.3)
Baud rate 100 Mbps , Full Duplex
Topology Line
Connection cable Twist pair CAT5e
Cable length Between nodes: up to 100 m
Number of slaves
connected
Up to 65535
EtherCAT Indicators RUN/ERROR/LINK(IN/OUT)
RUN: Green LED , ERROR: RED LED, LINK(IN/OUT): Green LED
Station Alias (ID) Range: 0 to 65535, SII Save Value
Explicit Device ID Supported
Device profile MDP, ETG5001.1
SyncManager 4
FMMU 3
Synchronous Mode DC (SYNC0 event synchronization)
Free Run (No Slave application synchronization)
Cycle Time Minimum DC time : 1ms
Communication object SDO (Service Data Object)
PDO (Process Data Object)
SDO message Supported: SDO Request, SDO Response, SDO information
Not supported: Emergency Message ,Complete Access
Maximum number of
PDO assigns
RxPDO: 4 [table]
TxPDO: 4 [table]
Maximum PDO data
length
RxPDO: 25 [byte]
TxPDO: 25 [byte]
Diagnosis Object Not supported
Command Object Not supported
Firmware update Firmware download to update via FoE
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A.5 ESM (EtherCAT State Machine)
The EtherCAT State machine (ESM) is used to manage the communications states between the master and
slave applications when EtherCAT communications are started and during operation, as show in the following
figure.
Normally, the requests of state changes are from the master. The master requests the change by writing the
ESM with the request to be changed in the AL control register of the slaves. The slave confirms the result of the
state change as either successful or failed and then responds to the master with the local AL status. If the
requested state change fails, the slave responds with an error flag.
Init
Pre_Operational Bootstrap
Safe-Operational
Operational
Safe-Operational
(OI) (OP)
(PI)
(OS)
(SP) (SI)
(BI) (IB)
(SO)
(PS)
(IP)
Power On
ESM contains states
Symbol Name Communication Operation Description
INIT Init The communication part is initializing
and the transmission and reception
with bot SDO (Mailbox) and PDO are
impossible
INIT state defines basic communication relation between the master and
slave in the application layer. Direct communication between the master
and slaves is not possible in the application layer. The master user the
INIT state to initialize the setting for the configuration of the slaves.
When the slaves support the mailbox service, the corresponding SM
settings will also be executed in INIT state.
PREOP Pre-Operational Possible to send and receive data
through SDO (Mailbox)
The mailbox communication can be performed in the PREOP state
when the slaves support the optional mailbox. Both master and slaves
can use the mailbox to initialize application specifications and to change
parameters. Process data communication cannot be executed in this
state.
SAVEOP Safe-Operational The transmission (from slave to
master) with PDO as well as the
transmission and reception over SDO
(Mailbox) are possible.
In SAVEOP state, Slave applications transfer the actual input data, but
not the output data that may not be available for processing. The output
must be set in this state.
OP Operational Possible to send and receive both SDO
(Mailbox) and PDO.
In OP state, slave applications transfer the actual input data and the
master application transfers the actual output data.
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BOOT Bootstrap Impossible to send and receive both
SDO and PDO, in this state.
In BOOT state, slave applications can receive new firmware
downloaded to the FoE (File access Over EtherCAT).
State transition and local Management Service
Transition
Symbol
Direction Local Management Service
IP INIT => PREOP Start Mailbox Communication
PI PREOP => INIT Stop Mailbox Communication
PS PREOP => SAVEOP Start Input Update
SP SAVEOP => PREOP Stop Input Update
SO SAVEOP => OP Start Output Update
OS OP => SAVEOP Stop Output Update
OP OP => PREOP Stop Input Update, Stop Output Update
SI SAVEOP => INIT Stop Input Update, Stop Mailbox Communication
OI OP => INIT Stop Input Update, Stop Output Update, Stop Mailbox Communication
IB INIT => BOOT Start Firmware Update(FoE), Start Bootstrap Mode
BI BOO => INIT Start Firmware Update(FoE), Restart Device
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Appendix B Process Data Objects (PDOs)
The CANOpen over EtherCAT protocol allows the user to map objects to PDOs (Process Data Objects) in
order to use the PDO for real-time data transfer. The PDO mappings define which objects will be included in
the PDOs. PDO is composed of RxPDO transferring from master to slave and TxPDO transferring from slave
to master.
Note The object updates by the PDO should not carry out updating by SDO because the data of SDO
will be covered by the data of PDO.
PDO types Sender Receiver
TxPDO Slave Master
RxPDO Master Slave
B.1 TxPDO List [Slave transmits data to Master]
Index
(Hex)
Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
PDO OP
Mode
EEPRO
M
6000h 4-Channels Digital Inputs
00h CH0 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 ro TxPDO All No
6010h Encoder Counter#0 Inputs
01h Counter Value Inc. -231 ~ 231 I32 ro TxPDO All No
02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No
03h Set Counter Done -- (0,1) BOOL ro TxPDO All No
6020h Encoder Counter#1 Inputs
01h Counter Value Inc. -231 ~ 231 I32 ro TxPDO All No
02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No
03h Set Counter Done -- (0,1) BOOL ro TxPDO All No
6030h Encoder Counter#2 Inputs
01h Counter Value Inc. -231 ~ 231 I32 ro TxPDO All No
02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No
03h Set Counter Done -- (0,1) BOOL ro TxPDO All No
6040h Encoder Counter#3 Inputs
01h Counter Value Inc. -231 ~ 231 I32 ro TxPDO All No
02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No
03h Set Counter Done -- (0,1) BOOL ro TxPDO All No
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B.1.1 4-Ch. Digital Inputs (6000h)
Index
(Hex)
Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
PDO OP
Mode
EEPRO
M
6000h 4-Channels Digital Inputs
00h CH0 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 ro TxPDO All No
Digital Input: (1:Active 0: Inactive)
B.1.2 Encoder Counter Inputs (60n0h)
Index
(Hex)
Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
PDO OP
Mode
EEPRO
M
60n0h Encoder Counter#(n-1) Inputs (n=1~4)
01h Counter Value Inc. -231 ~ 231 I32 ro TxPDO All No
The value of current encoder counter.
02h Reset Counter Done -- (0,1) BOOL ro TxPDO All No
This value will be true when the counter is reset .
(1: Active, 0:Inactive)
03h Set Counter Done -- (0,1) BOOL ro TxPDO All No
This value will be true when the counter is set .
(1: Active, 0:Inactive)
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B.2 RxPDO List [Master transmits data to Slave]
Index
(Hex)
Sub-
Inde
x
Name/Description Units Range Data
Type
Acc
-ess
PDO OP
Mode
EEPRO
M
7000h 4 Channels Digital Outputs
0x00 CH1 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 rw RxPDO All No
7010h Encoder Counter#0 Setting
01h Counter Value Inc. -231 ~ 231 I32 rw RxPDO All No
02h Reset Counter -- (0,1) BOOL rw RxPDO All No
03h Set Counter -- (0,1) BOOL rw RxPDO All No
7020h Encoder Counter#1 Setting
01h Counter Value Inc. -231 ~ 231 I32 rw RxPDO All No
02h Reset Counter -- (0,1) BOOL rw RxPDO All No
03h Set Counter -- (0,1) BOOL rw RxPDO All No
7030h Encoder Counter#2 Setting
01h Counter Value Inc. -231 ~ 231 I32 rw RxPDO All No
02h Reset Counter -- (0,1) BOOL rw RxPDO All No
03h Set Counter -- (0,1) BOOL rw RxPDO All No
7040h Encoder Counter#3 Setting
01h Counter Value Inc. -231 ~ 231 I32 rw RxPDO All No
02h Reset Counter -- (0,1) BOOL rw RxPDO All No
03h Set Counter -- (0,1) BOOL rw RxPDO All No
B.2.1 4-Ch. Digital Outputs (7000h)
Index
(Hex)
Sub-
Inde
x
Name/Description Units Range Data
Type
Acc
-ess
PDO OP
Mode
EEPROM
7000h 4 Channels Digital Outputs
0x00 CH1 -> Bit0-Bit3 BIT 0x00 ~ 0x0F U8 rw RxPDO All No
Digital Output: (1:Enable , 0: Disable)
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B.2.2 Encoder Counter Setting (70n0h)
Index
(Hex)
Sub-
Inde
x
Name/Description Units Range Data
Type
Acc
-ess
PDO OP
Mode
EEPROM
70n0h Encoder Counter#(n-1) Setting. (n=1~4)
01h Counter Value Inc. -231 ~ 231 I32 rw RxP
DO
All No
The value is set to counter.
02h Reset Counter -- (0,1) BOOL rw RxP
DO
All No
To execute reset counter. (1:Enable , 0:Disable)
03h Set Counter -- (0,1) BOOL rw RxP
DO
All No
To execute set counter. The value of counter to be set is in object (SDO:70n0-01h).
(1:Enable , 0:Disable)
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Appendix C Service Data Objects (SDOs)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
EEP-
ROM
4000h Station Alias
01h Selection -- (0~2) I16 rw 1 All Yes
(OP)
02h Setup (High byte) -- (0x00~0xFF) I16 rw 0 All Yes
(OP)
03h Station Switch -- 0x00~0xFF I16 rw 0 All No
04h Station Alias -- 0x0000~0xFFFF I16 ro 0 All No
4005h Retain Variable Operation
01h Control Word -- 0x0000 ~ 0xFFFF U16 rw - All No
02h Status Word -- 0x0000 ~ 0xFFFF U16 ro - All No
03h State Of Control Cycle -- 0x00~0x99 U16 ro All No
8000h Encoder Counter Mode
01h Encoder Input #0 Mode -- (0-2) U8 rw 0:AB All Yes
02h Encoder Input #1Mode -- (0-2) U8 rw 0:AB All Yes
03h Encoder Input #2 Mode -- (0-2) U8 rw 0:AB All Yes
04h Encoder Input #3 Mode -- (0-2) U8 rw 0:AB All Yes
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C.1 Station Alias (4000h)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
EEP-
ROM
4000h Station Alias
01h Selection _ 0~2 U8 rw 1 All Yes
(OP)
02h Setup (High byte) _ 0x00~0xFF U8 rw 0 All Yes
(OP)
03h Station Switch _ 0x00~0xFF U8 ro - All No
04h Station Alias _ 0x0000~0x0000 U16 ro - All No
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
EEP-
ROM
4000h Station Alias
01h Selection _ 0~2 U8 rw 1 ALL Yes
how to set a station alias (Default is 1)
value definition
0 The value saved at 004h in the SII is set as station alias.
1 The value made of object 4000h:02h and dip switch of amplifier is set as station alias. (*1)
2 Read station alias via AL control word
(*1) If Setting values for both the dip switch and object 4000h:02 are 0, the value of the SII area (0004h) is regard as Station Alias.
02h Setup (High byte) _ 0x00~0xFF U8 rw 0 All Yes(OP
)
High byte of Station Alias
How to set the parameters with dip switch and object 4000h:02h
Station Alias (16 bits)
High byte Low Byte
Value set by 4000h:02h Value set by dip switch
03h Station Switch _ 0x00~0xFF U8 ro 0 All No
This parameter is to show the value of Station ID Switch which is in front of device. This value will be refreshed when the switch is changed.
04h Station Alias _ 0x0000~0x0000 U16 ro 0 All No
This parameter is to show the station alias which will be refreshed After power on.
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C.1.1 Device Addressing
The device can be addressed via Device Position Address (Auto Increment address), by Node Address
(Configured Station Address/Configured Station Alias), or by a Broadcast.
Position Addressing (Auto-Increment Addressing)
In this mode, the datagram holds the position address of the addressed slave as a negative value. Each slave
increments the address. The slave which reads the address equal zero is addressed and will execute the
appropriate command at receives.
Position Addressing should only be used during starting up of the EtherCAT system to scan the fieldbus and
later only occasionally to detect newly attached slaves.
Node Addressing (Fixed Addressing)
The configured Station Address is assigned by the master during start up and cannot be changed by the
EtherCAT slave. The Configured Station Alias address is stored in the ESI EEPROM. The Configured Station
Alias must be enabled by the master. The appropriate command action will be executed if Node Address
matches with either Configured Station Address or Configured Station Alias.
The slave matched to the address set at station register (0x0010) from the master by position addressing is
normally addressed in node addressing. This enables access without fail even when a device is added, the
segment topology has changed and/or the slave has been removed.
The respective slave node address is set with the dip switch at the front of the device and CoE Object dictionary
4000h. 0 - 65535 axes addresses can be set using the 8 dip switch (0x00 - 0xFF:bit7 - 0) at the front of the
device and with a set value of bit 15 – 8, previously written in the non-volatile memory (4000h:02h) inside the
device. When the alias selection (4000h:01h) is set to 1, the setting values will be written in the station alias
setting register (0x0012) in an address space after the control power has been turned ON. When the device
address has changed under the control power ON status, re-input the power to enable the change in axis
address.
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0120hbit5
AL Control
0130hbit5
AL Status
0134hbit5
Al Status Code
4000h Station Alias Selection 01h
4000hStation Alias Setup
(High byte) 02h
0010hConfigured Station
Address
0012hConfigured Station
Alias
Slave CPU
0004hConfigured Station
Alias
SII (EEPROM)
Station Alias ID (Low Byte )Set by Dip Switch
Slave
Master
(1)
ESC (EtherCAT Slave Controller)
(4)
(2)
(3)
Object Backup(EEPROM)
(1.) Set the position address by the master
The slave matched to the address set at station register (0x0010) from the master by position addressing is
normally addressed in node addressing.
(2.) Reading the value of SII from configured station alias (4000h:01h=0)
Setting the value of CoE object 4000h:01h to 0 and reading the value of 0004h (Configured Station Alias) in
the SII from 0012h (Configured Station Alias) of ESC register. The device reads the value of object 4000h:01h
(Configured Station selection) from backup EEPROM at the control power-on. If the value is 0, the value
saved at 0004h (Configured Station Alias ) in the SII into 0012h(Configured Station Alias) of ESC register and
master reads this value.
(3.) Reading the value of dip switch from Configured Station Alias (4000h:01h=1)
Setting the value of CoE object 4000h:01h to 1 and reading the value which is combined by object 4000h:02h
(Station Alias Setup (high byte)) and dip switch on the front of device from 0012h (Configured Station Alias)
of ESC register. The device reads the value of the object 4000h:01h (Station alias selection) from backup
EEPROM at the control power-on. If the value is 1, the value made of object 4000h:02h (Station alias
setup(high)) and dip switch on the front of device from 0012h (Configured Station Alias) of ESC register.
Master reads this value.
(4.) Reading the value of dip switch from AL Status Code (Explicit Device ID) (4000h:01h=2)
Reading the value which is combined by object 4000h:02h (Station Alias Setup (high byte)) and dip switch on
the front of device from 0012h (Configured Station Alias) of ESC register.
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(1.) Bit5 (ID Request) of AL Control (0120h) is set to 1.
(2.) The Station Alias set up by dip switch (low byte) and 4006h:02h (high byte) returns to AL Status Code
(0134h).
(3.) To put bit5 (ID Loaded) of AL Status (0130h) from 0 to 1.
(4.) When bit5 (ID Request) of control register is set from 1 to 0, the bit5 (ID Loaded) of AL Status register
(0x130) will change to 0.
(5.) AL Status Code (0134h) is clear.
In the period of returning Station Alias, if an alarm which is defined in the AL status code occurs, AL status
code of the alarm is returned. When the alarm is cleared, Station Alias will return again.
AL Control Reg 0x0120.5(ID Request)
AL Status Reg 0x0130.5(ID Loaded)
AL Status Code 0x0134 Station Alias
Station Alias is requested by the request of AL Control
AL Status Code is cleared without the request of AL Control.
AL Control Reg 0x0120.4(Error Ind Ack)
AL Control Reg 0x0120.5(ID Request)
AL Status Reg 0x0130.4(Error Ind)
AL Status Reg 0x0130.5(ID Load)
AL Status Code Reg 0x134
Station Alias AL Status code of alarm Station Alias
AL status code of alarm is returned if a alarm which is defined in the AL status code occurs
Station Alias will be returned if the alarm is cleared
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C.2 Retain Variable Operation (4005h)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
EEP-
ROM
4005 Retain Variable Operation
01h Control Word -- 0x0000 ~ 0xFFFF U16 rw 0x0000 All No
02h Status Word -- 0x0000 ~ 0xFFFF U16 ro 0x0000 All No
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
EEP-
ROM
4005 Retain Variable Operation
01h Control Word 0x0000 ~ 0xFFFF U16 rw 0x0000 All No
03478111215 1314
STA CMDID/PSWD3 PSWD2 PSWD1PSW RW ERST
02h Status Word 0x0000 ~ 0xFFFF U16 ro 0x0000 All No
03478111215 1314
OPEN CMDID Reserved ErrCodeBUSY RW EFLG
03h State Of Control Cycle 0~99 U8 ro 0 All No
Value Symbol Description Note
0x00 RETAIN_STATE_WAIT_TO_START Wait to enter retain operation.
Write the Enter Password to start retain operation
See C.2.1
0x01 RETAIN_STATE_WAIT_FOR_NEW_CMD Wait for new read/write command See.C.2.2 / C.2.3
0x02 RETAIN_STATE_EXECUTE_WR_CMD Execute read command
0x03 RETAIN_STATE_EXECUTE_RD_CMD Execute write command
0x04 RETAIN_STATE_WAIT_CMD_FINISH Wait for command finish
0x05 RETAIN_STATE_CMD_IS_FINISHED Command has finished and STA bit set to ‘0’.
0x99 RETAIN_STATE_ERROR Alarm happens for retain operation
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C.2.1 Enter / Exit Retain Operation
ControlWord.STA=1ControlWord.PSW=1ControlWord.RW=1ControlWord.ERST=0Password=135h
Enter/Exit Retain Operational Mode
Write Enter CodeSOD:4005-01h=0xE135
Read StatusWord Status=SOD:4005-02h
(StatusWord & 0x8000) !=0(Bit15=1)
Start
NO
Write Enter CodeSOD:4005-01h=0xE246
Read StatusWord Status=SOD:4005-02h
(StatusWord & 0x8000) ==0(Bit15=0)
End
YES
NO
ControlWord.STA=1ControlWord.PSW=1ControlWord.RW=1ControlWord.ERST=0Password=246h
?Exit Operation
Clear STA SOD:4005-01h=0x0000
ControlWord.STA=0
YES
Command Executed
No
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C.2.2 Save Retain Parameters to Flash Memory
Save Retain Parameters To Flash
Write ControlWord
SOD:4006-01h=0xA1xx
(x=not care)
Read StatusWord
StatusWord=SOD:4005-02h
?
StatusWord.BUSY=1
Yes
End
?
StatusWord.EFLG=1
No
Check Error Code
StatusWord.ErrCode
Yes
ControlWord.STA=1
ControlWord.PSW=0
ControlWord.RW=1
ControlWord.ERST=0
ControlWord.CMDID=1
Start
Clear ControlWord.STA=0
SOD:4005-01h=0x0000
ControlWord.STA=0
Clear ControlWord.STA=0
SOD:4005-01h=0x0000
?
New Command
ControlWord.STA=0
No
Yes
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C.2.3 Load Default Parameters from Flash Memory
Load Default Parameters From Flash
Write ControlWord
SOD:4006-01h=0xA2xx
(x=not care)
Read StatusWord
StatusWord=SOD:4005-02h
?
StatusWord.BUSY=1
Yes
End
?
StatusWord.EFLG=1
No
Check Error Code
StatusWord.ErrCode
Yes
ControlWord.STA=1
ControlWord.PSW=0
ControlWord.RW=1
ControlWord.ERST=0
ControlWord.CMDID=2
Start
Clear ControlWord.STA=0
SOD:4005-01h=0x0000
ControlWord.STA=0
Clear ControlWord.STA=0
SOD:4005-01h=0x0000
?
New Command
ControlWord.STA=0
No
Yes
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C.3 Encoder Input Modes (8000h)
Index Sub-
Index
Name/Description Units Range Data
Type
Acc
-ess
Default
value
OP
Mode
EEP-
ROM
8000h Encoder Counter Mode
01h Encoder Input #0 Mode -- (0-2) U8 rw 0:AB All Yes
(OP)
The encoder Input Mode for encoder counter #0
value Symbol Description
0 AB AB Phase
1 CW/CCW
2 PULS/DIR
02h Encoder Input #1Mode -- (0-2) U8 rw 0:AB All Yes(OP
)
The encoder Input Mode for encoder counter #1
see 8000-01h
03h Encoder Input #2 Mode -- (0-2) U8 rw 0:AB All Yes(OP
)
The encoder Input Mode for encoder counter #2
See 8000-01h
04h Encoder Input #3 Mode -- (0-2) U8 rw 0:AB All Yes(OP
)
The encoder Input Mode for encoder counter #3
See 8000-01h
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C.3.1 Encoder Operational Process
Start
Set Encoder Input ModeSDO:8000-0nh=InputMode
(0:AB 1:CW/CCW 2:PUSE/DIR)
Encoder Input Channel nn=(1-4)
?Set Initial Value for Encoder
Counter
Set Encoder Counter initial valuePDO:700n0h-01=SetValue
Execute Encoder Counter SetPDO:700n0h-03=1
(1:Enable, 0:Disable)
?Reset Encoder Counter
Execute Encoder Counter ResetPDO:700n0h-02=1
(1:Enable, 0:Disable)
Yes No
Yes
Encoder Input
No
Read the current value of encoderEncValue=PDO:600n0h-01
IsPDO:60n0-03h==1
No
IsPDO:60n0-2==1
Start
Execute Encoder Counter SetPDO:700n0h-03=0
(1:Enable, 0:Disable)
Execute Encoder Counter ResetPDO:700n0h-02=0
(1:Enable, 0:Disable)
YesYes
No
Stop Encoder
Yes
No
Encoder Operational Proccess