Lenze E84AYCET EtherCAT MCI module Manuale Utente Scaricare il pdf (Pagina 56)

7 Data transfer

7.2 EtherCAT datagrams

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7.2 EtherCAT datagrams

Read and write accesses are always only executed in one small section of the complete EtherCAT

frame – the datagrams.

EtherCAT datagrams have the following structure:

EtherCAT Command header

The EtherCAT command header contains the following information:

• Command to be executed

• Addressing information

• Length of the data area (Data)

• Interrupt field

Data

The data area contains the data of the command to be executed.

WKC (Working Counter)

The working counter is evaluated by the master for monitoring the execution of the command.

EtherCAT

Command header

Data WKC

10 bytes Max. 1486 bytes 2 bytes

1 2 ... 51 52 53 54 55 56 57 58 59 60 61 ... 108 109

Nessun commento

Lenze E84AYCET EtherCAT MCI module Manuale Utente Pagina 56