KAS project EtherCAT mapping - S700 Dig Inputs

The following outlines setting up KAS project to read S700 Digital Inputs into a PxMM program:

Through high speed , deterministic PDO channel:

• Use S700 FW 5.18 or greater

• Set DRVCNFG3 Bit 16 = 1

• Use this ECAT ESI file with the S700: http://wiki-kollmorgen.eu/wiki/lib/wiki-plugins/fileselector_download.php?file=http://wiki-kollmorgen.eu/wiki/DanMoBilder/file/firmware_archiv/s700/7ndu587_ND0.zip

• the ECAT COE object for digital input state is 0x2354

• Input Bit Mapping for 0x2354:

Bit 0: NSTOP inverse
Bit 1: PSTOP inverse
Bit 2: home switch active
…
Bit 16: input 1
Bit 17: input 2
Bit 18: input 3
Bit 19: input 4
Bit 20: hardware enable

Read individual Bits by linking a DINT variable to this object then reading individual bits as follows: VarName.16 to read the status of Input1

• To use 0x2354 as a PDO mapping you need to create a special PDO mapping group  in the PDO editor. Example:  use flexible mapping (0x1A00)  mapping  (see attached project)

Through SDO channel:

• Can also read as an SDO through KAS Ethercat function block: ECATReadSDO FB