Beckhoff CX210009x4 Manuel d'utilisateur télécharger pdf (Page 21)

Productoverview

viatheSystemManager(fig.3)bytheoperatorclickingonit

Thevaluesarethenchangeddirectlyintheonlineconnectedslave.

Thisisusefulforcommissioningofthesystem/slaves.Clickontherowoftheindextobeparameterizedand

enteravalueinthe"SetValue"dialog.

fromthecontroller/PLCviaADSe.g.bythefunctionblocksfromtheTcEtherCAT.liblibrary

ThisisrecommendedformodificationswhenthesystemisrunningorifnoSystemManageroroperating

staffareavailable.

duringtheEtherCATstartupthroughpredefinedcommands,thesocalledstartuplist.

TheTwinCATconfigurationisusuallycreatedinadvancewithoutEtherCATslavesactuallybeingpresent.

Thenitshouldbepossiblebeforecommissioningtoadjustknownpropertiessuchasfiltersettingsofflinein

ordertoacceleratecommissioning.

CoEdirectory–startuplist

Note

Startuplist

ChangesmadetothelocalCoEdirectoryoftheEtherCATslavesarelostwiththeoldde

viceincaseofexchange.IfadeviceisreplacedwithanewBeckhoffdevice,itwillhavethe

defaultsettings.ItisthereforeadvisabletolinkallchangesintheCoElistofanEtherCAT

slavewiththeStartuplistoftheslave,whichisprocessedwhenevertheEtherCATfieldbus

isstarted.InthiswayareplacementEtherCATslavecanautomaticallybeparameterized

withthespecificationsoftheuser.

IfEtherCATslavesareusedwhichareunabletostorelocalCoEvaluespermanently,the

Startuplistmustbeused.

Thestartuplistisusedforthesecases:thevalueshere,whichareenteredbytheuser,aretransmittedto

therespectiveslaveuponeachEtherCATstatetransition/start.Astartupentryconsistsof

• Time:thestatetransitioninwhichthecommandissent

PS(PREOP>SAFEOP)isusuallythecorrectchoice,sinceanEtherCATslavethenswitchesto

operativeinputmode.

• Index:Subindex

• Data

Theorderoftheentriesisnottakenintoaccount:allentriestowhichastatetransitionappliesarehanded

oversimultaneouslyasasynchronouscommandstotheEtherCATsystemandexecutedthere,assoonas

thebusloadallows.Nocheckismadeofwhetheranidenticalentryisalreadypresentintheslave.The

correspondingvaluesareadopteduponclickingtheentry8000:01;01isenteredinDataasthedesired

value.Theentry‘P>S’marksthetimeoftheexecution.

CoEdirectory–datamanagement

Note

Datamanagement

IfslaveCoEparametersaremodifiedonline,Beckhoffdevicesstoreanychangesinafail

safemannerintheEEPROM,i.e.themodifiedCoEparametersarestillavailableaftera

restart.

Thesituationmaybedifferentwithothermanufacturers.

IfEtherCATslavesareusedwhichareunabletostorelocalCoEvaluespermanently,the

Startuplistmustbeused.

Summaryofthecharacteristics

NoteveryEtherCATdevicemusthaveaCoEdirectory

IfaCoEdirectoryispresent,itisadministrated,preparedforqueryingandwritingandstoredinthedeviceby

thecontroller.

TheEtherCATmastercanbeusedforviewing/querying/changing,oralocaluserinterfaceonthedevice

(keypad,screen)allowsaccess.

CX210009x4 21Version1.1

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