EL6752-0010 DeviceNet slave configuration

The DeviceNet slaves are configured in EtherCAT state PREOP. The general DeviceNet slave parameters are written via the EtherCAT object 0xF800, the slave configuration data, i.e. the communication features and the IO configuration are written via the EtherCAT object 0x8000, see section EtherCAT Object Description.

The EtherCAT states are mapped to DeviceNet as follows:

The EtherCAT PDO mapping (EtherCAT objects 0x1600, 0x1A00, 0x1A80) and the PDO assignment (EtherCAT objects 0x1C12, 0x1C13) can be read once the DeviceNet slave parameters and the DeviceNet slave configuration data have been written.  The associated process image is then generated.

Once the DeviceNet slave parameters have been written via the EtherCAT object 0xF800, the DeviceNet slave 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 slave starts the data communication, i.e. it is now ready for communication with a DeviceNet master. In EtherCAT state SAFEOP the DeviceNet slave is in IDLE mode. During the EtherCAT state transition from SAFEOP to OP the DeviceNet slave 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 slave parameters and DeviceNet slave configuration data then have to be written again.