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Productoverview

CoEinterface–parametermanagementintheEtherCATsystem

Manydifferentdevicesareusedinanautomationenvironment.Thesedevicescanbeusedseparatelyor

togetherinagrouponabussystem.Suchdevicescanbecontrollers,shaftencoders,servodrives,motors,

I/Omodulesorsensorsamongotherthings.Dependinguponcomplexity,suchadevicemustbe

parameterizable/adjustablefortherespectiverequirement.Parameterizationisperhapsnotnecessaryinthe

caseofasimpledigital24Vinputwithafixedswitchingthresholdanddelay;inthecaseofashaftencoder,

however,itwillnotbepossibletodowithoutit(e.g.numberoflines,absoluteorrelative,dataformat,etc.)

Ontopofthatitcanbeofinteresttostoredatainthedeviceduringproductionoroperation.The

manufacturercouldstoreproductiondatasuchasdevicename,serialnumber,firmwareversion,calibration

dataordateofmanufacture,ifnecessaryprovidedwithprotectionagainstaccessoramendment.Theuser

couldstoreusercalibrationdataandtheapplicationspecificsettingsinthedevice.

Inordertocreateauserfriendlyinterfacefordeviceoperation,differentorganizationshavecreatedvarious

standardsinwhichthefollowingaredefined:theavailabledeviceclasses(e.g.:‘rotaryencoder’,‘analog

inputmodule’class),theparametersthateachrepresentativeofsuchaclasshas(obligatoryandoptional

elements),thelocationswheretheseparameterscanbefoundandthemechanismwithwhichtheyaretobe

changed.EtherCATfollowsthesocalledCoEstandardhere:CanApplicationprotocoloverEtherCAT.

CanoverEtherCAT

TheCiAorganization(CANinAutomation)pursuesamongotherthingsthegoalofcreatingorderand

exchangeabilitybetweendevicesofthesametypebythestandardizationofdevicedescriptions.Forthis

purposesocalledprofilesaredefined,whichconclusivelydescribethechangeableandunchangeable

parametersofadevice.Suchaparameterencompassesatleastthefollowingcharacteristics:

• Indexnumber–fortheunambiguousidentificationofallparameters.Theindexnumberisdividedinto

amainindexandasubindexinordertomarkandarrangeassociatedparameters.

Mainindex

Subindex,(offsetbyacolon“:”)

• Officialname–intheformofanunderstandable,selfdescriptivetext

• Specificationofchangeability,e.g.whetheritcanonlybereadorcanalsobewritten

• Avalue–dependingupontheparameterthevaluecanbeatext,anumberoranotherparameter

index.

Example:theparameter‘VendorID’mighthavetheindexnumber4120:01andthenumericalvalue‘2’asthe

IDofaBeckhoffdevice.

Sincehexadecimalvaluesarefavoredinthemachineenvironment,theparameterisrepresentedfromthe

user’spointofviewasifithadtheROproperty(readonly),becausethevendorIDshouldnotbechangedby

theuser.

Suchalistofparameters,thewholeofthedevicespecificCoEdirectory,canbecomeveryextensive.The

firstentriesofaBeckhoffEL3152analoginputterminalappearasfollowsintheTwinCATSystemManager:

Theindexnumbersarespecifiedintheprofile;theybegininEtherCATwithx1000,becausetheunderlying

entriesdonothavetobedisplayed.

CoEdirectory–availability

AnEtherCATdevicecanhaveaCoEdirectory,butdoesnotneedtohaveone.Simpleslavesneedno

parameterdirectoryordonothavethecontrollerrequiredforadministration.Ontheotherhand,the

EtherCATmaster(likeTwinCAT)asasoftwareEtherCATdevicecanalsomanageaCoEdirectory.

Ifpresent,theCoEdirectoryisinoperationfromthePREOPstate.

TheobjectdirectorycanbereadviatheSDOinformationservice(ServiceDataObjects).

CoEdirectory–localizationintheEtherCATSlave

TheCoEdirectoryasaparametersystemmustbeadministratedinthedeviceinthefirmware(FW)inthe

localcontroller.Thisisthesocalledonlinedirectory,becauseitisonlyavailabletotheuseriftheEtherCAT

slaveisinoperationwithoperatingvoltagesuppliedand,ifapplicable,canbemanipulatedviaEtherCAT

communication.

CX210000x416 Version1.0

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