EtherCAT从节点到Canopen主站

CANopen Master - EtherCAT Slave
The Anybus X-gateway copies I/O-data in both directions thus enabling data ex改变 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 节点 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 连接 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 ex改变s 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 连接器 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 节点.
	Node Guarding/Life Guarding Protocol provides possibility to guard slaves or the master.
	EMCY (Emergency Object) is used for error reporting.
	LSS master functionality.
	Slim housing with standard DIN rail mounting.
	EtherCAT interface supports CANopen objects SDOs and PDOs.
	EtherCAT Profile support DS301 v4.0.2 compliant.
	CANopen configuration by using an external CANopen Configuration Tool

TECHNICAL SPECIFICATIONS
Size:	120 mm x 75 mm x 27 mm
Power Supply:	24 VDC
温度:	-25-55°C
Current Consump:	Max 150 mA
Baud Rate:	20 kbit/s - 1 Mbit/s, Auto baud rate detection
I/O Input:	510 bytes
I/O Output:	510 bytes
Config Method:	External CANopen Configuration Manager (CCM)
Certification:	Certified by CAN in Automation (CIA)
EtherCAT baud rate:	100 Mbit/s
EtherCAT 连接or:	2 x RJ45