简介：canopen Master - EtherCAT Slave The ANYBUS X-gateway copies I/O-data in both directions thus enabling data exchange between the two networks. Default I/O configuration is 16 bytes Input and 16 bytes Output, two bytes in each direction is used for the Control word and the Status word. Changing default settings is very simple by changing the Fiel...
canopen Master - EtherCAT Slave The ANYBUS X-gateway copies I/O-data in both directions thus enabling data exchange between the two networks. Default I/O configuration is 16 bytes Input and 16 bytes Output, two bytes in each direction is used for the Control word and the Status word. Changing default settings is very simple by changing the Fieldbus parameters from the canopen configuration tool. An external canopen configuration tool is used to configure the nodes on the canopen network. The resulting Concise DCF file is downloaded to the canopen network master using a canopen adapter. Embedded into a small plastic housing, the canopen X-gateway is a slim device for standard DIN rail mounting.
The canopen master (manager) can connect up to 126 slaves and complies with the canopen communication profile DS301 v4.0.2. The X-gateway supports the different canopen functionalities as Heartbeat, Nodeguarding, Sync and Emcy. 128 Receive and 128 Transmit PDOs are available to be used, each PDO can transfer up to 8 bytes.
The EtherCAT Slave Interface for the ANYBUS X-gateway implements canopen over EtherCAT, and exchanges up to 512 bytes of data in each direction. The interface acts as a slave node, which means it can be accessed by an EtherCAT master, but it will not initiate communication by itself. The module has two RJ45 connectors using 100 Mbit full duplex Ethernet. For configuration a XML-format device despription file is supplied by HMS.
KEY FEATURES
canopen implementation according to the canopen specification DS301 v4.0.2.
Network Management (NMT) messages, to configure and initialize the network.
Supporting 128 Receive PDOs and 128 Transmit PDOs, each can transfer up to 8 bytes.
PDO message types: COS (Change of State), Cyclic Synchronous, Acyclic Synchronous.
Synchronization Object (SYNC) is used for synchronizing PDO communication.
Heartbeat Mechanism to monitor the status of nodes.
Node Guarding/Life Guarding Protocol provides possibility to guard slaves or the master.
EMCY (Emergency Object) is used for error reporting.
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