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- The bootstrap state is used when updating EtherCAT firmware.
Explicit Device ID
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General Description
The use of EtherCAT Device identification is to identify an EtherCAT slave explicitly. This is necessary for the following use cases:
- Hot Connect applications
Within some applications it might be useful to connect or disconnect parts of the network. In this case the master must have the possibility to identify which part of the network is available. - Prevention against cable swapping
If at least two identical devices are used in one application it might be necessary to prevent the mix-up of these devices by cable swapping. Example Scenario: Within a machining center there might be two identical drives to work in X and Y direction. To avoid that the drives receive wrong process data, for example after a device replacement, an explicit identification of the devices can be used.
The Device Identification value can be used optionally for unique addressing.
Rotary Selectors
The CM1-E uses 2 rotary selectors on the side of the motor to set the ID. These use hexadecimal values to set the range from 0-255. The values are set as follows
x10 | x1 | |
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Description | Most significant 4 bits | Least significant 4 bits |
Example value | Bh | 5h |
Combined value | B5h (181d) |
ID Range Usage
The following ID range is permissible
ID | Usage |
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0x00 (0) | No ID is set and Explicit Device ID is not used |
0x01-0xFE (1-254) | Explicit Device ID has been set |
0xFF (255) | Reserved
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Configured Station Alias
For backwards compatibility with certain master controllers the Configured Station Alias Register 0x0012 may be used. The following conditions exist:
Explicit Device ID Value | Configured Station Alias Value | Usage |
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0 | 0 | No identification used or expected |
>0 | 0 | Explicit Device ID is used |
0 | >0 | Configured Station Alias is used |
>0 | >0 | Internal error generated |
PDO Timing
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The CM1-E slave will accept a number of PDO rates. The rate is auto-detected and no additional setup is required on the slave.
Accepted rates are
- 1000μs (1ms)
- 500μs
- 250μs
- 200μs
The detected rate can be read in object 0xFE00:1.
PDO Mappings
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