File that determines the configuration of data exchanged from the control, seen as an EtherCAT node, to the master. It must be present in the microSD, in the FB_DIR folder (default /fa).
The control configuration file is divided into 3 parts:
•definition of the file type and general characteristics regarding the configuration
•definition of data received by control
•definition of data sent from control
The first part identifies the file type as xml for fbslave.
The second part defines the fieldbus type, the channel used, and the data endian. Possible endians are:
Keywords |
Byte sequence |
||
|---|---|---|---|
2-byte data |
4-byte data |
8-byte data |
|
littleEndian |
2,1 |
4,3,2,1 |
8,7,6,5,4,3,2,1 |
littleEndianDWX |
2,1 |
4,3,2,1 |
8,7,6,5,4,3,2,1 |
middleLittleEndian |
2,1 |
2,1,4,3 |
8,7,6,5,4,3,2,1 |
middleLittleEndianDWX |
2,1 |
2,1,4,3 |
8,7,6,5,4,3,2,1 |
bigEndian |
1,2 |
1,2,3,4 |
1,2,3,4,5,6,7,8 |
bigEndianDWX |
1,2 |
1,2,3,4 |
5,6,7,8,1,2,3,4 |
middleBigEndian |
1,2 |
3,4,1,2 |
6,5,8,7,2,1,4,3 |
middleBigEndianDWX |
1,2 |
3,4,1,2 |
2,1,4,3,6,5,8,7 |
The third part defines the configuration of the slots present and the data in them, divided into the two directions. The data to be exchanged are divided into slots, which correspond to the slots to be configured on the master. For each slot, the data type and the number of objects in the slot (5 or 10) is defined, depending on the size of the data. The data types that can be defined are:
Keyword "objType" |
Data type |
Number of elements "objNumber" |
EtherCAT data type |
Module type in the Master |
|---|---|---|---|---|
I16 |
Integer 16 bits |
10 |
INT |
I16_From_RBX / I16_To_RBX |
U16 |
Unsigned integer 16 bits |
10 |
UINT |
U16_From_RBX / U16_To_RBX |
I32 |
Integer 32 bits |
10 |
DINT |
I32_From_RBX / I32_To_RBX |
U32 |
Unsigned integer 32 bits |
10 |
UDINT |
U32_From_RBX / U32_To_RBX |
I64 |
Integer 64 bits |
5 |
LINT |
I64_From_RBX / I64_To_RBX |
U64 |
Unsigned integer 64 bits |
5 |
ULINT |
U64_From_RBX / U64_To_RBX |
Float |
Real 32 bit |
10 |
REAL |
F32_From_RBX / F32_To_RBX |
Double |
Real 64 bit |
5 |
LREAL |
F64_From_RBX / F64_To_RBX |
For each slot, it is defined via the <item> field how the data present within the sent or received PDO is composed. For each "item" present, the data type is defined in the PDO <dataType> and possibly the number of repetitions <dataType rep>, in case of multiple data of the same type associated with a block of identical variables. This allows the fieldbus data type to be changed independently of the one declared for the master. The data types that can be defined are:
Keyword “dataType” |
Data type |
|---|---|
I8 |
Integer 8 bits |
U8 |
Unsigned integer 8 bits |
I16 |
Integer 16 bits |
U16 |
Unsigned integer 16 bits |
I32 |
Integer 32 bits |
U32 |
Integer without sign 32 bit |
I64 |
Integer 64 bit |
U64 |
Integer without sign 64 bit |
Float |
Real 32 bit |
Double |
Real 64 bit |
The R3 <entity> variables that can be associated are:
Keyword “entity” |
Variable type |
First Parameter "entIdx1" |
Second Parameter "entIdx2" |
|---|---|---|---|
R |
Integer registers R3 |
Register index |
- |
RR |
Real registers R3 |
Register index |
- |
NVR |
Integer non-volatile registers R3 |
Register index |
- |
NVRR |
Real non-volatile registers R3 |
Register index |
- |
AM |
Alarm masks |
AM index |
- |
APR |
Real type axis parameters |
Parameter index |
Axis index |
PR |
General parameters of real type |
Parameter index |
- |
API |
Integer-type axis parameters |
Parameter index |
Axis index |
PI |
General parameters of integer type |
Parameter index |
- |
See example to better understand the various tags.
At the start of the control, through visualization of the system report, the interface configuration with the configuration data entered is shown, with the resulting object mapping indicated.
