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BECKHOFF ET9300 User Manual
BECKHOFF Equipment
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Version 1.7
Date:
2015-01-13
Application Note ET9300
(EtherCAT Slave Stack Code)
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Table of contents
Document Outline
1 References
2 Terms, Definition, Abbreviation
2.1 Abbreviation
3 Getting Started
3.1 SSC Tool
3.2 Default SSC files
4 Code Structure
5 Hardware Access
5.1 Interrupt Handler
5.2 Interface Functions/Macros
5.2.1 Generic
5.2.2 Read Access
5.2.3 Write Access
6 Application
6.1 Application Settings
6.2 SSC Functions
6.3 Interface Functions
6.3.1 Generic
6.3.2 EtherCAT State Machine
6.3.3 Process data handling
6.4 Interface Variables
6.5 Create an Application
6.5.1 Adding a new Application
6.5.2 Examples
6.5.2.1 Sample Application process data enhancement
7 Objects
7.1 Design/Structure Rules
7.2 Define local memory
7.3 Entry descriptions
7.4 Object name
7.5 Object description
7.6 Index Ranges
7.7 Implementation examples
7.7.1 Usage of Object Deftype ENUM
8 Mailbox
8.1 FoE (File Transfer over EtherCAT)
8.1.1 Testing FoE
8.2 EoE (Ethernet over EtherCAT)
8.2.1 Implementation
8.2.1.1 Sending EoE datagrams
8.2.1.2 Receiving EoE datagrams
8.2.2 EoE Examples
8.2.2.1 EoE Example 1
8.2.2.2 EoE Example 2
9 Synchronization
9.1 Supported Sync Modes
9.1.1 FreeRun
9.1.2 SyncManager
9.1.3 SyncManager/Sync0
9.1.4 SyncManager/Sync0/Sync1
9.1.5 Sync0
9.1.6 Sync0/Sync1
9.1.7 Subordinated Cycles
10 CiA402 drive profile
10.1 Objects
10.2 State machine
10.3 Operation modes
10.4 TwinCAT setup
10.4.1 Automatic network setup
10.4.2 Manual network setup
10.4.3 NC parameter setup
11 TestApplication
11.1 Slave Behavior Control
11.1.1 Test Control Object
11.1.2 User RAM 0xF80:0xF83
11.2 ESM Tests (0x2000 – 0x200F)
11.3 Mailbox Tests (0x2010 – 0x201F)
11.4 CoE Tests (0x2020 – 0x202F)
11.5 FoE Tests (0x2030 – 0x203F)
11.6 Generic Objects
12 Tool
12.1 Default Startup Dialogs
12.2 Main User Interface Elements
12.2.1 Tool Bar
12.2.1.1 File
12.2.1.2 Project
12.2.1.3 Tool
12.2.1.4 Help
12.2.2 Windows
12.3 Create Files
12.4 Local SSC Update
12.5 Project Update
12.6 Import Configurations
13 OD Tool
13.1 Console application
13.2 SSC Tool Integration
13.3 PDO mapping and SM assign objects
13.4 Syntax
13.4.1 Comment
13.4.2 Object Index
13.4.3 ObjectCode
13.4.4 SI (Subindex)
13.4.5 DataType
13.4.6 Default/Min/Max
13.4.7 M/O/C, B/S and rx/tx
13.4.8 Access
13.5 ENUM
14 EEPROM Handling
14.1 EEPROM Emulation
14.2 EEPROM Programming
14.2.1 EEPROM Programmer User Elements
15 Bootloader
Appendix
Support and Service
Beckhoff’s branch offices and representatives
Beckhoff Headquarters
Beckhoff Support
Beckhoff Service
EtherCAT Technology Group (ETG) Headquarters
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