Introduction to Physical Node Addressing
Currently, the control slave station is mainly controlled by the axis number or slave station number. The axis number or slave station number is set to 0, 1, 2... or 1001, 1002, 1003... according to the physical connection order of the slave station. When the physical connection order changes, the axis number or slave station number needs to be reconfirmed.
Physical node addressing allows us to manually change the secondary address of slave stations without requiring automatic reordering by the master station. Using the secondary address for control ensures that regardless of changes in the physical connection order of slave stations (e.g., adding, removing, or repositioning them), the corresponding slave station can be controlled via the specified secondary address as long as its secondary address remains unchanged. With physical node addressing enabled, the axis number/node number in the API function interface becomes the secondary address. Therefore, adding or removing slave stations or changing their connection order in the physical topology does not affect the existing secondary address, maximizing the consistency and convenience of the host computer software.
Usage steps
Step 1: First, connect all slave stations in the normal connection order.
Step 2: Configure the secondary address of different slave stations according to the software requirements.
Step 3: Adjust the topology according to the installation location of each slave station in the electrical cabinet.
Step 4: Perform a bus scan again, confirm the number of slave stations, and download the configuration file.
Step 5: After completing the above steps, the software can be operated by following the instructions at the second address to access the slave station.
Not set
Already set
When no second address is set for the slave stations, the master station will sort them sequentially according to their physical connection order. Slave station numbers will start from 1001, 1001, 1002, 1003..., while axis numbers will start from 0, 0, 1, 2...;
After setting the second address of the slave station, the axis number will become the set value, and the slave station number of the module will also become the set value.
How to set the secondary address of the slave station
01. Configure directly through the main site
Step 1: Right-click on "Control Card", click the "Bus Debugging" tab, and enter the bus debugging interface.
Step 2: Use the "Read/Write Second Address of Slave" module to set/modify the second address of the slave. "Automatic sorting" refers to the physical connection order of the slave, starting from 0, 0, 1, 2...; the range of the second address that can be set is between 0 and 254.
For example: Set the second address of the third slave station L7EC-400S/C(1003) in the above topology to 10. Enter "2" in the auto sort box, enter "10" in the second address box, and then click "Write slave station second address".
02. Configure via slave station
I. Leadshine L7EC-400S:
1. Operation via panel:
Step 1: Power on the servo
Step 2: Click M, select PA023 using the up, down, and left arrow keys, click S, and set PA023=00001.
Step 3: Set PA024 using the same procedure as in Step 2. The value of PA024 is the second address that was set.
Step 4: Power off the servo and wait for it to write the configured second address into the EEPROM.
Step 5: Power on the servo, setup complete.
2. Operate through debugging software:
Step 1: Open the Leadshine driver debugging software and open the "Parameter Summary" interface.
Step 2: Modify PA0.24 (from site alias source) to 1: sourced from parameter PA0.23.
Step 3: Modify PA0.23 (slave alias) to 10.
Step 4: Power off the servo and wait for it to write the configured second address into the EEPROM.
Step 5: Power on the servo, setup complete.
II. Panasonic A5:
1. Use the knob to dial the switch.
Step 1: Open the Panasonic driver debugging software and open the "Parameters" interface.
Step 2: Modify 7.41 (select the Station alias setting source) to 0: Source from the knob.
Step 3: Power off the servo and wait for the servo to write the parameters to the EEPROM.
Step 4: Power on the servo and turn the knob.
Step 5: Power off the servo and wait for the servo to write the parameters to the EEPROM.
Step Six: Power on the servo, setup complete.
2. Operate through debugging software:
Step 1: Open the Panasonic driver debugging software and open the "Parameters" interface.
Step 2: Modify 7.41 (select the Station alias setting source) to 1: sourced from parameter 7.40.
Step 3: Modify 7.40 (Station alias, host computer 8-bit value) to 10.
Step 4: Power off the servo and wait for it to write the configured second address into the EEPROM.
Step 5: Power on the servo, setup complete.
Using physical node addressing function
Step 1: Open the control card Motion, right-click the EtherCAT device tree, and then right-click "Scan Devices" to scan slave stations.
The scan results are shown in the following figure:
Step 2: Enable physical node addressing function
Step 3: Configure the slave station's second address using the method described above, and then perform the scan operation again. The scan result is shown in the following figure:
Motion intelligently sorts slaves by type: axis list, module list, and list of other slaves.
After enabling the slave physical node addressing function, when operating axis motion/or other functions, or operating on modules or other slave stations, including reading/writing the slave's PDO and SDO, the axis number/slave number will all change to the set slave's second address; at this time, no matter how the physical connection order of the network cable is changed, it will not affect the slave's second address!
The second address of the other slave stations did not change after the number of slave stations was reduced.
After adding a slave station, the second address of the other slave stations did not change.
Randomly exchange physical connection ordering from slave station
Common problems and troubleshooting methods
1. When the bus reports an error 0xFFFD, the slave's second address is set out of range (0~254). At this time, the bus error "0xFFFD" will appear in the lower right corner of the motion interface, and all slaves in the upper right corner will be displayed in the list of other slaves, as shown in the figure below. The module's second address is set to 255, which exceeds the maximum range that the second address can be set.
2. When the bus reports an error 0xFFFE, the second address of the slave is duplicated. At this time, the bus error "0xFFFE" will appear in the lower right corner of the motion interface, and all slaves in the upper right corner will be displayed in the list of other slaves, as shown in the figure below. The second address of the servo driver and the module are both set to 4, and the second address of the slave is duplicated.
In this case, clicking "0xFFFE" will display a pop-up window showing the slave with the same name and its duplicate second address, as well as the order of its physical connection. This allows you to quickly locate the slave with the same name and modify it in time.
To learn more about Leadshine Control Technology, please stay tuned.
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