KEBCO COMBICOM User manual

02/2008
CT.F5.0E0-K100
COMBICOM
GB
Instruction Manual EtherCAT

2

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GB

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Table of Contents
1. Introduction ......................................................................................................................5
1.1 Preface ............................................................................................................................................... 5
1.2 Product description .......................................................................................................................... 5
1.3 List of literature ................................................................................................................................. 5
2. Hardware ..........................................................................................................................6
3. Software ...........................................................................................................................8
3.1 Fundamentals of the EtherCAT interface connection ................................................................... 8
3.1.1 EtherCAT Configuration (EEPROM) ................................................................................................... 8
3.1.2 Mailbox communication ...................................................................................................................... 8
3.1.2.1 Parameter addressing by 16 bit index plus 8 bit subindex ...................................................... 8
3.1.2.2 Set-addressing with subindex ................................................................................................... 8
3.1.3 Process data communication .............................................................................................................. 9
3.1.4 Distributed clocks ................................................................................................................................ 9
3.2 Functions ........................................................................................................................................... 9
3.2.1 Process data mapping ........................................................................................................................ 9
3.2.2 Synchronous mode ........................................................................................................................... 10
3.2.3 Emergency ........................................................................................................................................ 10
3.2.4 Field bus watchdog ........................................................................................................................... 10
4 Operator Parameters .....................................................................................................11
5. DSP402-Parameter ........................................................................................................16
6. Annex ............................................................................................................................18

GB - 5
Preface
1. Introduction
1.1 Preface
We welcome you as a customer of the Karl E. Brinkmann GmbH and congratulate you to the aquisition of this
product. You have chosen a product on highest technical standard.
This manual as well as the specified hardware and software are developments of the Karl E. Brinkmann
GmbH. The Karl E. Brinkmann GmbH have prepared the documentation, hardware and software to the
best of their knowledge, however, no guarantee is given that the specifications will provide the efficiency ai-
med at by the user. Karl E. Brinkmann GmbH reserves itself the right to change/adapt specifications and
technical data without previous notification. Errors and ommissions excepted!
The safety and warning directions in this manual as well as in further documentation must be observed for a safe
operation. The safety and warning directions specified in this manual is not exhaustive.
The pictographs used in this manual have following meaning:
Danger
Warning
Caution
Attention
observe at
all costs
Information
Help
Tip
The information contained in the technical documentation, as well as any user-specific advice in spoken and writ-
ten and through tests, are made to best of our knowledge and information about the application. However, they
are considered for information only without responsibility. This also applies to any violation of industrial property
rights of a third-party.
Inspection of our units in view of their suitability for the intended use must be done generally by the user. Inspec-
tions are particulary necessary, if changes are executed, which serve for the further development or adaption of
our products to the applications (hardware, software or download lists). Inspections must be repeated completely,
even if only parts of hardware, software or download lists are modified.
Application and use of our units in the target products is outside of our control and therefore exclusively
in the area of responsibility of the user.
1.2 Product description
KEB develop, produce and sell static frequency inverters worldwide in the industrial power range. The inverters of
the type F5 can be equipped optionally with a EhterCAT slave interface. The F5 EtherCAT operator is integrated
into the FI housing by simple plug-in and fits into all F5-units. Here it concerns to an intelligent interface which
controls the data transfer from EtherCAT to the FI control and reverse.
1.3 List of literature
[1]: ESC10/20 Hardware Data Sheet V1.0 v. 8.3.2005
[2]: CANopen Application Layer and Communication Profile DS301 V4.02
[3]: Application manual of the implemented inverter
[4]: CANopen Device profile drives and motion control DSP402 V2.0

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Hardware
2. Hardware
X6B
X6C
X6D
Diagnose
EtherCAT
FUNC
START
ENTER
STOP
EtherCAT-Mailbox aktiv
Prozessdaten aktiv
EtherCAT-RUN
FU-Error
EtherCAT-Error
IN OUT
Link Link Speed Speed
Component Description
EtherCAT Mailbox active: Flashes as long as a mailbox command is carried out.
ProcessData active: Flashes as long as there is process data communication from and to the inverter.
EtherCAT RUN Green RUN-Led according to the specification of ‚RUN Indicator‘ in the EtherCAT
specification ([1]):
Flashing Actual condition
Constantly OFF INIT
Cyclically blinking with ON(200ms) / OFF(200ms) PRE-OPERATIONAL
Single flash with ON(200ms) / OFF(1000ms) SAFE-OPERATIONAL
Constantly ON OPERATIONAL
further on next side

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Hardware
Component Description
EtherCAT ERROR Red Led according to specification of ‚ERR Indicator‘ in the EtherCAT specification
([1]):
Flashing Description
Constantly OFF No Error
Cyclically blinking with ON(200ms) /
OFF(200ms)
General configuration errror
Single flash with ON(200ms) /
OFF(1000ms)
The application of the slave device has
automatically changed the communication
state
Double Flash with ON(200ms)
/ OFF(200ms) / ON(200ms) /
OFF(1000ms)
The application watchdog has responded.
Constantly ON The process data watchdog has respon-
ded. The host controller of the application
does not respond any more.
FI error Red Led as a repeater of the Error-Led of the FI control:
Flashing Description
Constantly OFF No power supply on the FI control board
Blinking FI control board in error status
Constantly ON Operating condition OK
Link Yellow Led in Ethernet connector:
Flashing Description
Constantly OFF No Ethernet link present
Constantly ON Ethernet link present
Blinking Ethernet communication active
Speed Green Led in Ethernet connector: Displays, whether the Ethernet communication
is running with 100Mbit/s (LED = constantly ON) or not.
X6B RJ45 connector of the diagnostic interface.
Attention !!! In order to avoid a destruction of the PC interface, the diagnostic in-
terface may only be connected to the serial interface of the PC by a special HSP5
cable with voltage adaption.
X6C, X6D Standard Ethernet-RJ45 connector according to IEEE 802.3 100Base-T

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Software
3. Software
3.1 Fundamentals of the EtherCAT interface connection
The KEB F5 EtherCAT operator contains a EtherCAT slave controller for time-critical operations of the EtherCat
communication. By using this EtherCAT controller it is guaranteed that basic communication is compatible to the
EtherCAT specification.
3.1.1 EtherCAT Configuration (EEPROM)
All values are saved in intel format (LSbyte first) into the EEPROM. The following table only lists the main features
of the KEB-F5-EtherCAT-EEPROM.
Byte Offset Description Value
0 PDI-Control 0009h
2 PDI-Config 0400h
4 SyncImpulseLength 000Ah
3.1.2 Mailbox communication
The KEB F5 EtherCAT operator supports the mailbox communication. All
parameters of the FI control and the operator can be read out or preset itself via this mailbox by using the CANo-
verEtherCAT.
Buffer size of the receive mailbox Minimum Maximum
16 Byte 50 Byte
Buffer size of the transmit mailbox Minimum Maximum
16 Byte 50 Byte
Supported mailbox protocols CANoverEtherCAT(CoE)
Supported CoE services Initiate SDO download expedited in server mode,
Initiate SDO upload expedited in server mode,
Emergency as client
3.1.2.1 Parameter addressing by 16 bit index plus 8 bit subindex
The following table shows parameter grouping according to [2]:
1.Index Last index Description
1000h 1FFFh Communication parameter according to [2]
2000h 5E00h Parameter of the FI control with index = KEB-Parameter-Address + 2000h(*1). The
subindex is used for set-addressing
5F00h 5FFFh Parameter of the EtherCAT operator
6000h 9FFFh Device profile parameters according to [4]
(*1): The KEB parameter address can be found in the application manual of the used FI.
3.1.2.2 Set-addressing with subindex
For KEB parameters (Index = 2000h...5FFFh) the subindex is used for set-addressing. Thereby the following
coding is used:
Subindex Description
0 Indirect set-addressing: The set to be addressed depends on the value of parameter Fr.09 in
the FI control.
1 Direct addressing of set 0
2 Direct addressing of set 1
4 Direct addressing of set 2
8 Direct addressing of set 3
16 Direct addressing of set 4
32 Direct addressing of set 5
64 Direct addressing of set 6
128 Direct addressing of set 7
By use of this bit-coding it is possible to address more than one parameter-set simultaneously. However this
should not be used for parameter-reading, because an error message is returned if not all values in the addressed

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Software
sets are the same. This mechanism can also be used to map PDO-Rx-data simultaneously to the parameters in
several sets of the inverter.
3.1.3 Process data communication
Through the process data channel it is possible to preset non-addressed setpoints to the KEB-F5 and actual
values can be requested. Data communication of the process data between application and EtherCAT slave con-
troller occurs via 3-buffer mechanism. The maximum of process data that can be transferred is 8 byte each per
direction.
3.1.4 Distributed clocks
The function distributed clocks is used for the synchronous operating mode (see above) in the KEB-F5-EtherCAT
operator. In this mode the interrupt cycles of the FI control is synchronized to the EtherCAT distributed clock-cyc-
les. With this a very precise synchronization of several KEB-F5 inverters is possible. Does the EtherCAT master
not support distributed clocks or are the distributed clocks not activated, then the KEB-F5-EtherCAToperator is
working completely asynchronous to the EtherCAT cycle.
3.2 Functions
3.2.1 Process data mapping
Which parameters of the inverter control concern to the process data is determined by the process data assign-
ment. The default process data assignment for this is:
Process output data (EtherCAT-Master  KEB-Slave):
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
SY.43: Control word (long) SY.52: Set speed IN.22: User Parameter 1
LSByte MSByte LSByte MSByte LSByte MSByte
Process input data (KEB-Slave  EtherCAT-Master):
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
SY.44: Status word (long) SY.53: Actual Speed IN.22: User Parameter 1
LSByte MSByte LSByte MSByte LSByte MSByte
The process data assignment can be adapted by CANopen parameters with index = 1600h and index = 1A00h.
The default process data assigment has the following meaning:
Index Subindex Value
1600h 0 3
1600h 1 202B0120h
1600h 2 20340110h
1600h 3 2E160110h
1A00h 0 3
1A00h 1 202C0120h
1A00h 2 20350110h
1A00h 3 2E160110h
IMPORTANT !!! For synchronous operating mode the process data assignment has to follow the form 1*32-Bit +
1-2times 16-Bit for both data directions.

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Software
3.2.2 Synchronous mode
In synchronous mode the SYNCO interrupt preset by the EtherCat slave controller is used as synchronisation
signal for the internal communication. Synchronous operating mode is only possible for the F5-EtherCAT operator,
if SYNC0 signals are activated by the EtherCAT master and the process data assignment is preset in both data
directions according to the above mentioned rules (1 time 32-Bit + 1-2 time 16-Bit).
In synchronous mode the operator displays constantly the following output:
This special operating mode includes some restrictions. As mentioned above the display is static. Furthermore
inputs via keyboard are also no longer possible. The diagnostic interface continues to operate. But the processing
speed of all services heavy depends on the synchronous cycle time. The cycle time is preset as multiple of 1 ms,
the minimum possible value is 1 ms. During each SYNCO cycle the actual process output data are transferred to
the FI control and the actual process intput data are read from it.
If the synchronous operating mode is activated, but no SYNC0 interrupts are released, the F5-EtherCAT operator
switches in automatic synchronous mode at default setting which can be identified in the following display string:
Herein the operator simulates the SYNC0 interrupts time controlled according to the configured sync0 cycle time.
In the following the SYNCO interrupt is meant if we speak from ‚SYNC event‘. The SYNC timeout time is four
times of the adjusted SYNC cycle time (see Com_Cycle).
3.2.3 Emergency
If this function is activated via parameter EmergencyCycle, the EtherCat operator reads cyclically parameter
RU.00 from the FI control. The operator starts an emergency message via CoE channel of the mailbox commu-
nication if an error status is recognized .This is also done if the error is no longer present. The message contains
8 bytes of data. The first 3 bytes of this data are defined by [2], the last 5 bytes can be assigned manufacturer-
specific. The KEB-F5-EtherCAT operator fills the emergency message as follows:
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
ErrorCode Error register InverterState (ru.00) 00h (KEB) 00h (KEB) 00h (KEB)
LB HB LB HB
3.2.4 Field bus watchdog
The field bus watchdog is a function in the EtherCAT operator. It serves to set the FI control into error (E.BUS)
or warning (A.BUS), if certain events on the field bus do not occur cyclically within an adjustable cycle-time. Two
operator parameters (Watchdog inhibit, Watchdog activation) exist for activating the field bus watchdog. Addi-
tionally the parameters Pn.05,Pn.06 have to be set in the FI control to define the cycle time and the reaction on
the timeout.
The EtherCAT operator monitors the occurance of the configured field bus events. Different events can cause the
reset of the watchdog. Does the timeout-time expire without one of the configured events occur, then the operator
triggers the watchdog event via the serial interface to the FI. If and how the FI control reacts on this, is determined
by the responded parameters in the FI control of the inverter.

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Software
4 Operator Parameters
Name: Com_Cycle
Index: 1006h
Subindex: 0
Description: Servs for activating/deactivating of synchronous operating mode. The value is coded in
µs, but it has an internal resolution of 1 ms.
Data length: 4 Byte
Coding: 0 = OFF (normal operating mode), otherwise 1 µs.
Value range: 0, 1000, 2000, 3000, ....., 65000
Remarks: This parameter is only writeable via mailbox communication with CANopen-SDO. The
value is not stored and thus the value after each restart is 0.
Name: HS_SyncToutMode
Index: 5FD7h
Subindex: 0
Description: Defines the reaction on the SYNC timeout event. See also chapter synchronous opera-
tion
Data length: 1 Byte
Coding: 0: Automatic return into normal mode.
1: Change into automatic synchronous mode.
Default value: 1
Remarks: A new value will be immediately active and saved non-voletily.
Name: HS_SyncToutDelay
Index: 5FE0h
Subindex: 0
Description: Here it can be configured how many SYNC events have to be received until the SYNC
timeout-supervising is activated after switching on. This parameter can be used if the cyc-
lic SYNC events cannot be guaranteed immediately after switching into the synchronous
operating mode.
Data length: 2 Byte
Coding: Number of SYNC events
Default value: 0
Remarks: A new value will be immediately active and stored non-volatile.
Name: Device type
Index: 1000h
Description: Displays the type of device according to [2]:
Subindex: 0
Data length: 4 Byte
Coding: Byte4 Byte5 Byte6 Byte7
Device profile no. Additional informations
LB HB LB HB
Default value: 0

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Software
Name: Error register
Index: 1001h
Description: Displays the actual error status according to [2]:
Subindex: 0
Data length: 1 Byte
Coding: Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Manufac-
turer
spec.
Reserv. Device
profile spec.
Communica-
tion
Tempera-
ture
Voltage Cur-
rent
Error
gene-
rally
Default value: 0
Remarks: This parameter is read-only.
Name: Manufactuer Status Register
Index: 1002h
Description: Returns the value of parameter RU.00 as 4 byte value.
Subindex: 0
Data length: 4 Byte
Coding: s. [3]
Remarks: This parameter is read-only.
Name: Pre-defined error field
Index: 1003h
Description: This parameter contains a field of maximum 6 entries where the error-history can be read
out. Subindex = 0 contains the number of errors that have been saved whereby the ent-
ries with subindex = 1-5 contain the real error entries
Subindex: 0: number of errors
Data length: 4 Byte
Coding: 1
Remarks: Writing on subindex = 0 deletes the error-history completely.
Subindex: 1-5: standard error field
Data length: 4 Byte
Coding: according to [2], as follows:
Byte4 Byte5 Byte6 Byte7
ErrorCode InverterState(RU.00)
LB HB LB HB
Remarks: The entries are read-only.
Name: Manufactuer Device Name
Index: 1008h
Description: Displays the value of parameter inverter identification SY.02 as 4-character hexadecimal
coded string.
Subindex: 0
Data length: 4 Byte
Coding: Value 0864h/2148 would appear in the CAN telegram as follows:
Byte4 Byte5 Byte6 Byte7
30h:‘0‘ 38h:‘8‘ 36h:‘6‘ 34h:‘4‘

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Software
Remarks: This parameter is read-only.
Name: Manufactuer Software Version
Index: 100Ah
Description: Displays the value of parameter software version (IN.06) as 4-character hexadecimal
coded string.
Subindex: 0
Data length: 4 Byte
Coding: Value 014Ah/330 would appear in the CAN telegram as follows:
Byte4 Byte5 Byte6 Byte7
30h:‘0‘ 31h:‘1‘ 34h:‘4‘ 41h:‘A‘
Remarks: This parameter is read-only.
Name: Identity Object
Index: 1018h
Description: Indicates the identification of the node in form of a structure.
Subindex: 0 : Nr of entries
Description: Indicates the number of objects in this PDO.
Data length: 1 Byte
Coding: 1
Default value: 2
Subindex: 1 : Vendor ID
Description: Indicates the code that has been distributed by the CAN in automation user group.
Coding:
Default value: 00000014h (KEB)
Subindex: 1 : Product Code
Description: Indicates the product code of the node. This parameter is coded manufacturer-specific.
Data length: 4 Byte
Coding: 00000005h: Type F5
Default value: 00000005h
Remarks: All members of this parameter are read-only.
Name: 1st receive PDO Mapping
Index: 1600h
Description: This parameter defines the process data assignment of the first PDO that carries data
frommaster to slave.
Subindex: 0 : Nr of Mapped objects
Description: Indicates the number of mapped objects in this PDO.
Data length: 1 Byte
Coding: 1
Default value: 3
Remarks: Value = 0 deactivates the operation of this PDO. When activating the PDO by writing a
value unequal to zero the operator first checks the process data mapping for general vali-
dity, then this mapping is converted into the inverter process data assignment and written
to the FI control. If everything could be done without error, the process data assignment
is activated and stored non-volatile.
Subindex: 1-4 : Nth mapped object
further on next side

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Software
Description: Indicates an object mapping.
Data length: 4 Byte
Coding: According to [2] as follows:
Byte7 Byte6 Byte5 Byte4
Index Subindex Bitlength
HB LB
Please note that the sequence in the CAN telegram follows the Intel format. That means
that the first byte (byte4) in the CAN telegram contains the bit length of this mapping and
the last byte (byte7) contains the high-byte of the index.
Default value: s.a.
Remarks: Writing on the mapping automatically deactivates the PDO operation by resetting the
value of subindex = 0 to zero. Please note that not all parameters of the FI control can be
mapped to process data. Operator parameters can not be mapped to process data.
Name: 1st transmit PDO Mapping
Index: 1A00h
Description: This parameter defines the process data assignment of the firstPDO that carries data
from slave to master. All further informations can be taken from the description of para-
meter 1st receive PDO mapping.
Name: EmergencyCycle
Index: 5FDDh
Subindex: 0
Description: Serves for activation of the emergency function. Values unequal to zero define the cycle
time in ms, in which the value of the FI parameter RU.00 is read. On occurance and lea-
ving of an error-state an emergency message is output via the emergency mechanism.
Data length: 4 Byte
Coding: 1ms, 0 = OFF (no Emergency)
Default value: 0
Remarks: A changed value will be immediately active and stored non-volatile.
Name: Watchdog inhibit
Index: 5FF9h
Subindex: 0
Description: Indicates the events that reset the field bus-watchdog from running into timeout.
Data length: 1 Byte
Coding: Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
reserved BUSOK SDO-Req PDOUT
PDOUT: If this bit is set, the field bus-watchdog is reset on every transfer of process
output data to the FI control.
SDO-Req: If this bit is set, the field bus-watchdog is reset on every receiption of a SDO-
request through the mailbox channel.
BUSOK: If this bit is set, the field bus-watchdog is reset if bit 4 of the AL status register
in the EtherCAT slave controller is 0. This means, that the slave did accept the EtherCAT
state-transitions requsted by the master..
Default value: 07h
Remarks: A changed value will be immediately active and stored non-volatile.

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Software
Name: Watchdog activation
Index: 5FDAh
Subindex: 0
Description: Defines, when the field bus-watchdog is activated after power on.
Data length: 1 Byte
Coding: Mixture of value-coding and bit-coding.
0: The field bus-watchdog ist active immediately after power on.
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
SDO PDOUT STATE_OP STATE_PREOP SYNC
SYNC: If this bit is set, the field bus-watchdog is activated after occurence of the first
SYNC event.
STATE_PREOP: If this bit is set, the field bus-watchdog is activated after first switch to
pre-operational-state.
STATE_OP: If this bit is set, the field bus-watchdog is activated after first switch to ope-
rational-state.
PDOUT: If this bit is set, the field bus-watchdog is activated after the first receiption of
process output data.
SDO: if this bit is set, the fild bus-watchdog is activated after the first receiption of a SDO-
request.
Default value: 04h
Remarks: A new value will be immediately active and saved non-voletily.

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Software
5. DSP402-Parameter
In the following parameters are listed that are defined by the CANopen device-profile DSP402 [4]. Some of this
parameters are rescaled by the EtherCat operator and then they are mapped to a KEB internal parameter of the
inverter control. Partly some of these parameters are completely realized in the operator.
Name: DSP402_ErrorCode
Index: 603Fh
Subindex: 0
Description: Output of an error code.
Data length: 2 Byte
Coding: according to [4]
Default value: 0
PDO-mapping: receive PDO transmit PDO
No Yes
Remarks: This parameter is read-only and is internally mapped to parameter RU.00.
Name: DSP402_Control word
Index: 6040h
Subindex: 0
Description: Control word according to [4].The parameter is bit-coded.
Data length: 2 Byte
Coding: Bit-coded according [4] The following table only lists the bits that are realised in this
software. Note that some bits are different assigned by the settings of the DSP402-mode
(see table below):
Modes of
operation
b7 b6 b5 b4 b3 b2 b1 b0
Fault
Reset
Mode-dependent Enable
Operation
Quick
Stop
Ennable
Voltage
Switch
ON
255 „“ Res. Res. Res. „“ „“ „“ „“
2 „“ RFG
Use Ref
RFG
Unlock
RFG
Enable
„“ „“ „“ „“
Default value:
PDO-mapping: receive PDO transmit PDO
Yes Yes
Remarks: This parameter is internally mapped to parameter SY.50.
Name: DSP402_Statusword
Index: 6041h
Subindex: 0
Description: Status word with coding according to [4]. The parameter is bit-coded.
Data length: 2 Byte
Coding: Mode b15...
b14
b13 b12 b11 b10 b9 b8...
b7
b6 b5 b4 b3 b2 b1 b0
Mode-de-
pendent
Int.
Limit
Active
Target
Rea-
ched
Re-
mote
Switch
ON
Disabl.
Quick
Stop
Volt.
En-
abl.
Fault Ope-
ration
Enabl.
Swit-
ched
ON
Ready To
Switch
ON
255 Res. Res. „“ „“ „“ „“ „“ „“ „“ „“ „“ „“ „“
2 Res. Res. „“ „“ „“ „“ „“ „“ „“ „“ „“ „“ „“
Default value:

GB - 17
Software
PDO-mapping: receive PDO Transmit PDO
No Yes
Remarks: This parameter is internally mapped to parameter SY.51.

GB - 18
Software
6. Annex
Overview of operator parameters
Index Subindex Diagnosis
Param.
address
Diagnosis
Parameter name
CANopen
Parameter name
Data
length in
Byte
Access
1000h 0 ----- ----- Device type 4 RD
1001h
(KEB)
0 ----- ----- Error register 1 RD
1002h
(KEB)
0 ----- ----- Manufactuer Status Register 4 RD
1003h 0-5 ----- ----- Predefine Error Field 4 RD_RW
1006h 0 0280h ----- ComCycle 4 RD_RW
1008h
(KEB)
0 ----- ----- Manufactuer Device Name 4 RD
100Ah 0 ----- ----- Manufacturer Software Version 4 RD
1018h
(KEB)
----- ----- ----- Identity Object -----
1018h
(KEB)
1 ----- ----- Vendor Id 4 RD
1018h
(KEB)
2 ----- ----- Product Code 4 RD
1600h ----- ----- ----- 1st receive PDO Mapping -----
1600h 0 0297h
(KEB)
Nr_PDOut_Objs Number of mapped objects 1 RD_RW
1600h 1 0298h
(KEB)
PDOut1_Map 1st mapped Object 4 RD_WR
1600h 2 0299h
(KEB)
PDOut2_Map 2nd mapped Object 4 RD_WR
1600h 3 029Ah PDOut3_Map 3rd mapped Object 4 RD_WR
1600h 4 029Bh PDOut4_Map 4th mapped Object 4 RD_WR
1A00h ----- ----- ----- 1st Transmit PDO Mapping -----
1A00h 0 0291h Nr_PDIn_Objs Number of mapped objects 1 RD_RW
1A00h 1 0292h PDIn1_Map 1st mapped Object 4 RD_WR
1A00h 2 0293h PDIn2_Map 2nd mapped Object 4 RD_WR
1A00h 3 0294h PDIn3_Map 3rd mapped Object 4 RD_WR
1A00h 4 0295h PDIn4_Map 4th mapped Object 4 RD_WR
5FDAh 0 0287h Watchdog Activation Watchdog Activation 1 RD_WR
5FF9h 0 0288h Watchdog Inhibit Watchdog Inhibit 1 RD_WR
5FDDh 0 0283h EmergencyCycle EmergencyCycle 2 RD_WR
5FDEh 0 CommTimeoutFunc_Addr 4 RD_WR
5FDFh 0 CommTimeoutFunc_Data 4 RD_WR
5FD7h 0 0281h HS_SyncToutMode HS_SyncToutMode 1 RD_WR
5FE0h 0 0282h HS_SyncToutDelay HS_SyncToutDelay 2 RD_WR
5FE2h 0 0285h Take Stored PD-Map Take Stored PD-Map 1 RD_WR
5FE4h 0 0286h
(KEB)
PDOUT_WrMode PDOUT_WrMode 1 RD_WR
5FE6h 0 0290h PDIN1_Cycle PDIN1_Cycle 2 RD_WR
5FD9h 0 0284h FBS Command FBS Command 2 RD_WR
5FDBh 0 ----- ----- VL_Ramp_CalcMode 1 RD_WR
5FDCh 0 ----- ----- Save_VLRamps 1 RD_WR
603Fh ----- ----- DSP402_ErrorCode 2 RD

D - 19
Notice

© KEB CT.F5.0E0-K100 02/2008
Karl E. Brinkmann GmbH
Försterweg 36-38 • D-32683 Barntrup
fon: [phone] • fax: [phone]
net: www.keb.de • mail: [email protected]
KEB Antriebstechnik GmbH & Co. KG
Wildbacher Str. 5 • D–08289 Schneeberg
fon: [phone] • fax: [phone]
mail: [email protected]
KEB Antriebstechnik Austria GmbH
Ritzstraße 8 • A-4614 Marchtrenk
fon: [phone] • fax: [phone]
net: www.keb.at • mail: [email protected]
KEB Antriebstechnik
Herenveld 2 • B-9500 Geraadsbergen
fon: [phone] • fax: [phone]
mail: [email protected]
KEB Power Transmission Technology (Shanghai) Co.
Ltd – Office Room 401
No. 665 North Songwei Road (New Husong Road),
Songjiang District, CHN-201613 Shanghai, P.R. China
fon: [phone] • fax: [phone]
net: www.keb.cn • mail: [email protected]
KEB Antriebstechnik Austria GmbH
Organizační složka
K. Weise 1675/5 • CZ-370 04 České Budějovice
fon: [phone] • fax: [phone]
net: www.keb.cz • mail: [email protected]
KEB España
C/ Mitjer, Nave 8 - Pol. Ind. LA MASIA
E-08798 Sant Cugat Sesgarrigues (Barcelona)
fon: [phone] • fax: [phone]
mail: [email protected]
Société Française KEB
Z.I. de la Croix St. Nicolas • 14, rue Gustave Eiffel
F-94510 LA QUEUE EN BRIE
fon: [phone] • fax: [phone]
net: www.keb.fr • mail: [email protected]
KEB (UK) Ltd.
6 Chieftain Buisiness Park, Morris Close
Park Farm, Wellingborough GB-Northants, NN8 6 XF
fon: [phone] • fax: [phone]
net: www.keb-uk.co.uk • mail: [email protected]
KEB Italia S.r.l.
Via Newton, 2 • I-20019 Settimo Milanese (Milano)
fon: [phone] • fax: [phone]
net: www.keb.it • mail: [email protected]
KEB Japan Ltd.
15–16, 2–Chome, Takanawa Minato-ku
J–Tokyo 108-0074
fon: [phone] • fax: [phone]
mail: [email protected]
KEB Korea Seoul
Room 1709, 415 Missy 2000
725 Su Seo Dong, Gang Nam Gu
ROK-135-757 Seoul/South Korea
fon: [phone] • fax: [phone]
mail: [email protected]
KEB RUS Ltd.
Dolgorukovskaja str. 33, building 8
RUS-127006 Moscow
fon: +007 499 972 3162 • fax: [phone]
mail: [email protected]
KEB Sverige
Box 265 (Bergavägen 19)
S-43093 Hälsö
fon: [phone] • fax: [phone]
mail: [email protected]
KEB America, Inc.
5100 Valley Industrial Blvd. South
USA-Shakopee, MN 55379
fon: [phone] • fax: [phone]
net: www.kebamerica.com • mail: [email protected]