| Name | Object Type | Description |
|---|---|---|
| DriveParamRead | SDO | Reads a drive parameter (ASCII format) |
| DriveParamWrite | SDO | Writes a drive parameter (ASCII format) |
| ECATGetObjVal | PDO | Reads cyclic drive parameter (String format) by returning the value of an EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs PDO element |
| ECATGetStatus | PDO | Reads cyclic status word (Index 6041) |
| ECATReadData | PDO | Reads cyclic parameter (byte offset format) |
| ECATReadSdo | SDO | Reads parameter (32 bit format) using SDO command |
| ECATSetControl | PDO | Manipulates the state of a drive by setting its control word (Index 6040) |
| ECATWriteData | PDO | Writes cyclic parameter (byte offset format) |
| ECATWriteSdo | SDO | Writes parameter (32 bit format) using SDO command |
Table 11-46: List of EtherCAT FB
The SDO function blocks only support the reading and writing of 32-bit values. It is the fundamental size of CANopen SDO calls.
Why use ECATReadSdo and ECATWriteSdo FBs?
The ECATReadSdo and ECATWriteSdo response time is faster and therefore is typically preferred over the DriveParamRead and DriveParamWrite.
Why use the DriveParam FBs?
The two reasons to prefer the DriveParam FBs are:
See some stats about the CPU load
Increase of CPU load when calling SDO function blocks
| Mid-range AKC (Celeron 1.2GHz) | High-range AKC (Core 2 Duo 1.86GHz) | |
|---|---|---|
| Mean | 60 μs | 30 μs |
| Min | 48 μs | 24 μs |
| Max | 64 μs | 38 μs |
(these values have been computed with the TraceTimes command)
|
Stay Connected with Kollmorgen       
|
Copyright © 2015 Kollmorgen™ |
|