EL6752 DeviceNet master configuration

The DeviceNet master and the associated DeviceNet slaves are configured in EtherCAT state PREOP. The DeviceNet master parameters are written via the EtherCAT object 0xF800, the slave parameters are written via the EtherCAT objects from 0x80n0, see section EtherCAT Object Description.

The EtherCAT states are mapped to DeviceNet as follows:

The EtherCAT PDO mapping (EtherCAT objects 0x16yy, 0x1Ayy) and the PDO assignment (EtherCAT objects 0x1C12, 0x1C13) can be read once the DeviceNet master parameters and the DeviceNet slave parameters have been written. The associated process image is then generated.

Once the DeviceNet master parameters have been written via the EtherCAT object 0xF800, the DeviceNet master registers itself in the network and carries out the Duplicate MAC ID check.

Starting the fieldbus

During the EtherCAT state transition from PREOP to SAFEOP the DeviceNet master starts the data communication with the slaves and allocates the configured operating modes. In EtherCAT state SAFEOP the DeviceNet master is in IDLE mode.  During the EtherCAT state transition from SAFEOP to OP the DeviceNet master switches to RUN mode.

Loading a new configuration

A new DeviceNet configuration can only be loaded through an EtherCAT state transition to IDLE or PREOP. The DeviceNet master parameters and DeviceNet slave parameters then have to be written again.