4.1. EtherCAT Overview

EtherCAT is a real-time Ethernet network protocol developed by Beckhoff Automation for communicating among multiple nodes. EtherCAT networks are formed using CAT5e cabling, where master and nodes can be directly wired together through RJ-45 ports, in a daisy chain configuration, without need for external networking switches.

Software generates master/slave configurations by loading a EtherCAT Slave Information (ESI) file. Magna-Power Electronics provides this ESI file (XML) to customers which contains identifying information, exposes functionality, and stores settings.

Magna-Power Electronics has implemented and tested the basic EtherCAT protocol and Ethernet over EtherCAT. Additional protocols over EtherCAT (e.g., CANopen over EtherCAT (CoE), File Access over EtherCAT) may work, but have not been tested, and therefore are not supported.

4.2. Physical Interface

Fig. 4.11 Rear interface

4.2.1. Ethernet Ports

The DBx Module has two RJ-45 Ethernet ports on the rear of the unit for EtherCAT communications, shown in Rear interface labeled ETHERCAT. Either port may be used, with the other port acting as a passthrough for other EtherCAT devices.

4.2.2. LED Codes

In the rear of the DBx Module is a communications interface with two exposed bi-color LEDs. The LED labeled RUN indicates status of the EtherCAT device and the one labeled ERR indicates EtherCAT communication errors, as shown in Rear interface. Status is indicated using colors and blink patterns, as shown in the tables below.

Table 4.1 RUN LED States

State	Description
Off	No power or initializing
Green	Online, operational state
Green, flashing	Online, pre-operational state
Green, 1 flash	Online, safe-operational state
Red	Fatal error

Table 4.2 ERR LED States

State	Description
Off	No power or no error
Red, flashing	Invalid configuration
Red, 1 flash	Unsolicited state change
Red, 2 flashes	Sync manager watchdog timeout
Red	Application controller failure

The RJ-45 Ethernet port has one LED that indicates the status of the Ethernet connection. Link and activity status is indicated using and blink patterns, as shown in the table below.

Table 4.3 Top-left RJ-45 LED States

State	Description
Off	No link
Green	Link sensed, no activity detected
Green, flashing	Link sensed, activity detected

4.3. Data Objects

4.3.1. Process Data Objects (PDOs)

PDOs are real-time data frequently sent to and from connected Magna-Power Electronics devices. When describing PDO traffic, it is referenced with respect to the EtherCAT slave device. For example, Transmit PDOs (TxPDO) are transmitted from the slave and are read-only, while Receive PDOs (RxPDO) transmits variables to the slave and have write access. Measurement reads would be mapped in the TxPDO Mapping, whereas set points would be in the RxPDO Mapping.

4.3.2. Service Data Objects (SDOs)

SDOs are messages sent on request and have no timing expectations. SDOs are intended for non-real-time communications, as they must wait for the network to respond, and are typically used for reporting status, changing operating modes, and etc. RxSDOs variables should not be used to update values already part of a PDO, as they are updated regularly, and the values would be overwritten by the RxPDO.

4.4. EtherCAT State Machine

The master controls slaves by following the EtherCAT state machine. Slaves can transition between four states: Init, Pre-Operational, Safe-Operational, Operational. In each state configuration checks are made and types of communications opened. The transition between states are diagramed in EtherCAT state machine. Allowed communications in each is described in Allowed protocols for each state. Devices enter the Init when first switched-on and reaches Operational under normal conditions

Fig. 4.12 EtherCAT state machine

Table 4.4 Allowed protocols for each state

State	RxSDO/TxSDO	TxPDO	RxPDO
Init
Pre-Operational	✓
Safe-Operational	✓	✓
Operational	✓	✓	✓

4.5. Development using TwinCAT

Communication was tested with Magna-Power Electronics devices using software called TwinCAT 3 (version 3.1), which enables a personal computer to communicate over EtherCAT and act as a PLC master. Software is available for download on the Beckhoff Automation website using the link.

TwinCAT 3

A dedicated EtherCAT network is needed, segregated from the local TCP/IP network, as the two protocols are not compatible. In the examples, a separate network interface card (NIC) was installed just for EtherCAT communications. Specifically, an INTEL 8255x based NIC, as recommended by Beckhoff for real-time communications and compatibility with TwinCAT 3 software.

After installing the NIC and TwinCAT 3 follow the Windows driver installation guide on the Beckhoff website so that NIC is treated as a TwinCAT network adapter.

4.5.1. Project Configuration

A project file stores connection settings for each EtherCAT device which helps with application development for multi-device networks. The following steps walks through creating a project — the same used in the examples section.

1. Open the TwinCAT XAE Shell (TcXaeShell) application and create a new project by clicking File > New > Project and select TwinCAT XAE Project (XML format).

2. Download the Magna-Power Electronics ESI file below, save to the TwinCAT installation directory (default is C:/TwinCAT/3.1/Config/Io/EtherCAT).

Magna-Power Electronics ESI File

3. The Restart TwinCAT (Config Mode), Toggle Free Run State, and Show Online Data buttons should all be pressed, as shown in Fig. 4.13.

Fig. 4.13 Project running configuration

4. Navigate from the top to TwinCAT > Show Realtime Ethernet Compatible Devices. There are three possible scenarios:

1. If a TwinCAT adapter was already installed, it will appear under Installed and ready to use devices(realtime capable) tree. No additional setup is needed, as shown.

2. If a TwinCAT adapter is available but not installed, it will appear under Compatible devices tree. Select the desired network adapter and press the Install button, which makes it appear in Installed and ready to use devices(realtime capable) tree.

3. If a TwinCAT adapter is unavailable the Compatible devices tree will be empty, which indicates computer was unable to detect a compatible NIC.

Fig. 4.14 Adapter installation

5. In the Solution Explorer panel expand the I/O in the project tree. Right click on Devices and select Add New Item.

Fig. 4.15 Add new device

6. In the Insert Device window, select EtherCAT Master.

7. Under the devices tree Device 1 (EtherCAT) should be visible. Right click on the device and select Scan. If the Magna-Power Electronics device is found, called Box 1 (Anybus CompactCom 40 EtherCAT) will be added as a BLANK to Device

8. Verify device configuration by double clicking on Box 1 and selecting the Online tab. If successful, the field labeled Current State will show OP, indicating the Operational state.

Fig. 4.16 Operation status online tab

4.5.2. PDO Communication

TcXaeShell provides a couple options for reading PDOs

1. In Box 1 - Transmit PDO Mapping, PDO variables are listed. Select a variable and open to the Online tab to see that variable plotted in time.

Fig. 4.17 Graphing of a PDO varaible

2. Selecting Box 1 a list all PDOs are presented. Note that WcState, InputToggle, State, and AdsAddr are TwinCAT specific variables and can be ignored.

Fig. 4.18 PDO variable listing

TcXaeShell provides a couple options for writing PDOs

1. In Solution Explorer click the desired variable in Box 1 - Receive PDO Mapping and open the Variable tab.

2. The same can be accomplished by right clicking on the variable and selecting Online tab and the Write button, which also graphs the value over time.

Fig. 4.19 Writing PDO from the Online tab

The Set Value Dialog provides entry using multiple number formats. On change, all the fields will update such that numbers are equivalent. Write value dialog shows equivalent fields for a Float value of 3.7588999. Based what the PDO/SDO variable represents, users may elect to use integer number formats (Dec, Hex, or Binary) instead. Note that byte ordering is swapped for Hex versus Binary.

Fig. 4.20 Write value dialog

4.5.3. SDO Communication

SDO variables are listed in Box 1 and accessed by entering the CoE - Online tab. The variables listed in table form are extensive and some time is needed for them to load. To write to an SDO, double click on a variable in the table to open the Set Value Dialog window. Only variables with Flags RW (read/write) can be written to. Variables that are RO (read-only) or a PDO cannot be written to.

Fig. 4.21 SDO CoE - Online tab

4.6. Standard Object Dictionary

The physical interface to an EtherCAT network is performed with an industrial communication module installed internal to the DBx Module. The module supports CANopen over EtherCAT and complies with draft specification of CiA 301. The specification calls for services and standard data object implementations outlined in the reference material below. The data objects reside in allocated address space shown in Data object dictionary

CiA 301

Network Interface Appendix Anybus CompactCom EtherCAT Doc.Id. HMSI-168-65

Table 4.5 Data object dictionary

Index	Object
0x0000	Not used
0x0001-0x001F	Static data types
0x0020-0x003F	Complex data types
0x0040-0x005F	Manufacturer specific complex data types
0x0060-0x007F	Device Profile specific static data types
0x0080-0x009F	Device Profile specific complex data types
0x00A0-0x0FFF	Reserved for further use
0x1000-0x1FFF	Communication profile area
0x2000-0x5FFF	Manufacturer specific profile area
0x6000-0x9FFF	Standardised device profile area
0xA000-0xBFFF	Standardised interface profile area
0xC000-0xFFFF	Reserved for further use

4.7. Manufacturer Specific Instances Listing

ECAT Command	Write Index	Read Index	Description
Operation Commands
StatusQuesQ	N/A	0x200B	Returns the value of the Questionable Status register
StatusOperQ	N/A	0x200C	Returns the value of the Operation Status register
StatusRegQ	N/A	0x200D	Status Register
Output	0x200F	0x2010
Measurement Commands
MeasCurrQ	N/A	0x2101	Measures and returns the average current at the sense location
MeasVoltQ	N/A	0x2102	Measures and returns the average voltage at the sense location
MeasPwrQ	N/A	0x2103	Measures and returns the instantaneous DC power at sense location
Setpoint Commands
SetpointCurr	0x2201	0x2202	Sets the current set-point
SetpointVolt	0x2203	0x2204	Sets the voltage set-point
SetpointPwr	0x2205	0x2206	Sets the power set-point
Trip Commands
OverTripCurr	0x2301	0x2302	Sets the over current trip (OCT) set-point
OverTripVolt	0x2303	0x2304	Sets the over voltage trip (OVT) set-point
OverTripPwr	0x2305	0x2306	Sets the over power trip (OPT) set-point
UnderTripVolt	0x2307	0x2308	Sets the under voltage trip (UVT) set-point
Slew Commands
RiseRampCurr	0x2401	0x2402	Sets the rising slew rate for current when in current regulation state
RiseRampVolt	0x2403	0x2404	Sets the rising slew rate for voltage when in voltage regulation state
RiseRampPwr	0x2405	0x2406	Sets the rising slew rate for power when in power regulation state
FallRampCurr	0x2409	0x240A	Sets the falling slew rate for current when in current regulation state
FallRampVolt	0x240B	0x240C	Sets the falling slew rate for voltage when in voltage regulation state
FallRampPwr	0x240D	0x240E	Sets the falling slew rate for power when in power regulation
FactoryRestore	0x2701	N/A	Restores the factory EEPROM data
Lock	0x2703	0x2702	Locks and unlocks the product from configuration and set-point changes
SenseMode	0x2706	0x2707	Configures the sense location and automated compensation values
CommProt	0x2708	0x2709	Changes the communication protocol
SetSource	0x270A	0x270B	Sets the setpoint source
MagnaLinkMode	0x270C	0x270D	Changes the MagnaLINK mode to allow for standalone or master-slave configuration
MagnaLinkReinit	0x270E	N/A	Reinitialize all connected slaves

4.8. Manufacturer Specific Process Data Objects

4.8.1. Operation Commands

4.8.2. StatusRegQ

This command queries the Status Register. This read-only register holds the live (unlatched) operation status of the Accessory. Issuing a query does not clear the register. The register location and definitions are subject to change after any firmware release to accommodate new features. The Questionable Register is a subset of the status register and does not change between firmware updates. The present bit assignments are shown in the table below.

Access:

RO

Data Format:

32-bit Integer

Status Register 0

Bit	Name	Description
0	standby	output is in standby
1	live	output is active
2	solenoidStatus	aux power solenoid is open
3	nonhalt2	available
4	overCurrTrip	over current trip
5	overVoltTrip	over voltage trip
6	overPwrTrip	over power trip
7	remoteSenseLoss	remote sense voltage outside of acceptable bounds
8	underVoltTrip	under voltage trip
9	shutdown	target is creating a shutdown condition
10	linPwrLim	power across linear modules exceed ratings
11	resPwrLim	power across resistors exceed ratings
12	bootFailure	one or multiple target did not boot up
13	bootState	one or more targets are waiting to boot
14	phaseCurr	rated phase current exceeded
15	comm	communications are corrupted
16	overCurrProtect	terminal current exceeded product rating
17	overVoltProtect	terminal voltage exceeded product rating
18	tempRLin	linear module exceeded temperature
19	blownFuse	fuse is blown on the auxiliary power supply
20	interlock	interlock open
21	haltUserClear	available
22	maintenance	maintenance
23	tempDMod	diode modules exceeded temperature
24	incompatibleSysConfig	incompatible system configuration
25	stackOverflow	exceeded firmware stack
26	lineFault	line fault analog/digital inputs
27	tempRMod	resistor module exceeded temperature
28	belowRatedMinVolt	below minimum voltage rating(28)
29	outOfRegulation	out of regulation, unexpected currents measured
30	targetUpgrade	mainctrl upgrading other targets
31	haltSelfClear	available

Status Register 1

Bit	Name	Description
0	phaseLoss	one or more phase missing
1	blownFuseInput	input fuse blown on fuse/emi filter
2	fanLockedRotor	one or more fan’s rotor has locked
3	notUsed29	available
4	tempPwrMod	power processing module temperature fault
5	tempOutputMod	output filter module temperature fault
6	tempOutputCap	output capacitors temperature fault
7	tempTransformer	transformer exceeded temperature fault
8	notUsed26	available
9	notUsed27	available
10	notUsed28	available
11	notUsed1	available
12	notUsed2	available
13	notUsed3	available
14	notUsed4	available
15	notUsed5	available
16	invalidSysRating	invalid system rating
17	fwVersConflict	firmware version conflict
18	notUsed8	available
19	notUsed9	available
20	notUsed10	available
21	notUsed11	available
22	notUsed12	available
23	notUsed13	available
24	notUsed14	available
25	notUsed15	available
26	notUsed16	available
27	notUsed17	available
28	notUsed18	available
29	notUsed19	available
30	notUsed20	available
31	notUsed21	available

4.8.3. Measurement Commands

4.8.4. MeasCurrQ

This query commands the Accessory to measure and return the average current through the DC terminals.

Access:

RO

Data Format:

32-bit Floating Point Number

4.8.5. MeasVoltQ

This query commands commands the Accessory to measure and return the average voltage at the DC terminals. If the remote sense function is used and engaged, this command returns the voltage measured at the sense terminals.

Access:

RO

Data Format:

32-bit Floating Point Number

4.8.6. Setpoint Commands

4.8.7. SetpointCurr

This command programs the current set-point that the Accessory will regulate to when operating in constant current mode.

Access:

RW

Data Format:

32-bit Floating Point Number

4.8.8. SetpointVolt

This command programs the voltage set-point, in volts, which the Accessory will regulate to when operating in constant voltage mode.

Access:

RW

Data Format:

32-bit Floating Point Number

4.9. Manufacturer Specific Service Data Objects

4.9.1. Operation Commands

4.9.1.1. StatusQuesQ

This command queries and returns the values of the Questionable Register. This read-only register holds the live (unlatched) questionable statuses of the Accessory. Issuing this query does not clear the register. The bit configuration of the Questionable Register is shown in the table below.

Index:

0x200B

Access:

RO

Data Format:

32-bit Integer

Questionable Register

Bit	Weight	Abbreviation	Description
0	1	OVP	over voltage protection, hard fault
1	2	OCT	over current trip, soft fault
2	4	OVT	over voltage trip, soft fault
3	8	OPT	over power trip, soft fault
4	16	OCP	over current protection, hard fault
5	32	OTP	over temperature protection, hard fault
6	64	RSL	remote sense loss, soft fault
7	128	SFLT	soft fault, the ord value of all soft faults
8	256	HFLT	hard fault, the ord value of all hard faults
9	512	ILOC	interlock open, soft fault
10	1024	IPL	input power loss fault, hard fault
11	2048	ADIF	analog or digital input fault, hard fault

4.9.1.2. StatusOperQ

This command queries and returns the values of the Operation Register. This read-only register holds the live (unlatched) operation statuses of the Accessory. Issuing this query does not clear the register. The bit configuration of the Operation Register is shown in the table below.

Index:

0x200C

Access:

RO

Data Format:

32-bit Integer

Operation Register

Bit	Weight	Abbreviation	Description
0	1	STBY	standby
1	2	EN	enabled
2	4	RSEN	remote sense
3	8	LOCK	front panel locked
4	16	CC	constant current regulation, regulation status
5	32	CV	constant voltage regulation, regulation status
6	64	CR	constant resistance regulation, regulation status
7	128	CP	constant power regulation, regulation status

4.9.1.3. StatusRegQ

This command queries the Status Register. This read-only register holds the live (unlatched) operation status of the Accessory. Issuing a query does not clear the register. The register location and definitions are subject to change after any firmware release to accommodate new features. The Questionable Register is a subset of the status register and does not change between firmware updates. The present bit assignments are shown in the table below.

Index:

0x200D

Access:

RO

Data Format:

32-bit Integer

Status Register 0

Bit	Name	Description
0	standby	output is in standby
1	live	output is active
2	solenoidStatus	aux power solenoid is open
3	nonhalt2	available
4	overCurrTrip	over current trip
5	overVoltTrip	over voltage trip
6	overPwrTrip	over power trip
7	remoteSenseLoss	remote sense voltage outside of acceptable bounds
8	underVoltTrip	under voltage trip
9	shutdown	target is creating a shutdown condition
10	linPwrLim	power across linear modules exceed ratings
11	resPwrLim	power across resistors exceed ratings
12	bootFailure	one or multiple target did not boot up
13	bootState	one or more targets are waiting to boot
14	phaseCurr	rated phase current exceeded
15	comm	communications are corrupted
16	overCurrProtect	terminal current exceeded product rating
17	overVoltProtect	terminal voltage exceeded product rating
18	tempRLin	linear module exceeded temperature
19	blownFuse	fuse is blown on the auxiliary power supply
20	interlock	interlock open
21	haltUserClear	available
22	maintenance	maintenance
23	tempDMod	diode modules exceeded temperature
24	incompatibleSysConfig	incompatible system configuration
25	stackOverflow	exceeded firmware stack
26	lineFault	line fault analog/digital inputs
27	tempRMod	resistor module exceeded temperature
28	belowRatedMinVolt	below minimum voltage rating(28)
29	outOfRegulation	out of regulation, unexpected currents measured
30	targetUpgrade	mainctrl upgrading other targets
31	haltSelfClear	available

Status Register 1

Bit	Name	Description
0	phaseLoss	one or more phase missing
1	blownFuseInput	input fuse blown on fuse/emi filter
2	fanLockedRotor	one or more fan’s rotor has locked
3	notUsed29	available
4	tempPwrMod	power processing module temperature fault
5	tempOutputMod	output filter module temperature fault
6	tempOutputCap	output capacitors temperature fault
7	tempTransformer	transformer exceeded temperature fault
8	notUsed26	available
9	notUsed27	available
10	notUsed28	available
11	notUsed1	available
12	notUsed2	available
13	notUsed3	available
14	notUsed4	available
15	notUsed5	available
16	invalidSysRating	invalid system rating
17	fwVersConflict	firmware version conflict
18	notUsed8	available
19	notUsed9	available
20	notUsed10	available
21	notUsed11	available
22	notUsed12	available
23	notUsed13	available
24	notUsed14	available
25	notUsed15	available
26	notUsed16	available
27	notUsed17	available
28	notUsed18	available
29	notUsed19	available
30	notUsed20	available
31	notUsed21	available

4.9.1.4. Output

This command enables or disables the Accessory output. A 1 indicates the product’s power processing circuit is active and processing power, while and a 0 indicates the power supply is in standby or faulted state.

Index:

0x200F

Access:

RW

Data Format:

Boolean

Index:

0x2010

Access:

RO

Data Format:

Boolean

4.9.2. Measurement Commands

4.9.2.1. MeasCurrQ

This query commands the Accessory to measure and return the average current through the DC terminals.

Index:

0x2101

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.2.2. MeasVoltQ

This query commands commands the Accessory to measure and return the average voltage at the DC terminals. If the remote sense function is used and engaged, this command returns the voltage measured at the sense terminals.

Index:

0x2102

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.2.3. MeasPwrQ

This query commands commands the Accessory to measure and return the average power at the DC terminals.

Index:

0x2103

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.3. Setpoint Commands

4.9.3.1. SetpointCurr

This command programs the current set-point that the Accessory will regulate to when operating in constant current mode.

Index:

0x2201

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2202

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.3.2. SetpointVolt

This command programs the voltage set-point, in volts, which the Accessory will regulate to when operating in constant voltage mode.

Index:

0x2203

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2204

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.3.3. SetpointPwr

This command programs the power set-point, in watts, which the Accessory will regulate to when operating in constant power mode.

Index:

0x2205

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2206

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.4. Trip Commands

4.9.4.1. OverTripCurr

This command programs the over current trip (OCT) set-point. If the input current exceeds the over current trip set-point for multiple samples, the input is disconnected and an OCT fault is indicated.

Index:

0x2301

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2302

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.4.2. OverTripVolt

This command programs the over voltage trip (OVT) set-point. If the input voltage exceeds the over voltage trip set-point for multiple samples, the input is disconnected and an OVT fault is indicated.

Index:

0x2303

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2304

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.4.3. OverTripPwr

This command programs the over power trip (OPT) set-point. If the input power exceeds the over power trip set-point for multiple sample, the input is disconnected and an OPT fault is indicated.

Index:

0x2305

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2306

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.4.4. UnderTripVolt

This command programs the under voltage trip (UVT) set-point. If the input voltage falls below the under voltage trip set-point for multiple samples, the input is disconnected and an UVT fault is indicated.

Index:

0x2307

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2308

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.5. Slew Commands

4.9.5.1. RiseRampCurr

This command sets the current slew rate for increasing current transitions while in constant current regulation. MAXimum sets the slew to the fastest possible rate. MINimum sets the slew to the slowest rate. Slew rates less than the minimum value are set to MINimum. Slew rate settings less than the minimum value are set to MINimum. Slew rate settings greater than the maximum value are set to MAXimum.

Index:

0x2401

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2402

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.5.2. RiseRampVolt

This command sets the voltage slew rate for increasing voltage transitions while in constant voltage regulation. The units for voltage slew rate are volts per millisecond. MAXimum sets the slew to the fastest possible rate. MINimum sets the slew to the slowest rate. Slew rates less than the minimum value are set to MINimum. Slew rate settings less than the minimum value are set to MINimum. Slew rate settings greater than the maximum value are set to MAXimum.

Index:

0x2403

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2404

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.5.3. RiseRampPwr

This command sets the power slew rate for increasing power transitions while in constant power regulation. The units for power slew rate are watts per millisecond. MAXimum sets the slew to the fastest possible rate. MINimum sets the slew to the slowest rate. Slew rates less than the minimum value are set to MINimum. Slew rate settings less than the minimum value are set to MINimum. Slew rate settings greater than the maximum value are set to MAXimum.

Index:

0x2405

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x2406

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.5.4. FallRampCurr

This command sets the current slew rate for decreasing current transitions while in constant current regulation. MAXimum sets the slew to the fastest possible rate. MINimum sets the slew to the slowest rate. Slew rates less than the minimum value are set to MINimum. Slew rate settings less than the minimum value are set to MINimum. Slew rate settings greater than the maximum value are set to MAXimum.

Index:

0x2409

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x240A

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.5.5. FallRampVolt

This command sets the voltage slew rate for decreasing voltage transitions while in constant voltage regulation. The units for voltage slew rate are volts per millisecond. MAXimum sets the slew to the fastest possible rate. MINimum sets the slew to the slowest rate. Slew rates less than the minimum value are set to MINimum. Slew rate settings less than the minimum value are set to MINimum. Slew rate settings greater than the maximum value are set to MAXimum.

Index:

0x240B

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x240C

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.5.6. FallRampPwr

This command sets the power slew rate for decreasing power transitions while in constant power regulation. The units for power slew rate are watts per millisecond. MAXimum sets the slew to the fastest possible rate. MINimum sets the slew to the slowest rate. Slew rates less than the minimum value are set to MINimum. Slew rate settings less than the minimum value are set to MINimum. Slew rate settings greater than the maximum value are set to MAXimum.

Index:

0x240D

Access:

RW

Data Format:

32-bit Floating Point Number

Index:

0x240E

Access:

RO

Data Format:

32-bit Floating Point Number

4.9.5.7. FactoryRestore

This command performs a factory restore to default EPROM values. Both Soft Restore and Hard Restore are available through command parameters.

Index:

0x2701

Access:

RW

Data Format:

16-bit Integer

4.9.5.8. Lock

This command configures the Accessory’s lock state. While locked, the stop button is the only functional button on the front panel. See Lock for more details on how lock works and how behaves relative to other locking inputs (front panel and digital input).

Index:

0x2703

Access:

RW

Data Format:

Boolean

Index:

0x2702

Access:

RO

Data Format:

Boolean

4.9.5.9. SenseMode

This command configures where the Accessory senses voltage. The sense location also effects how power and resistance are calculated. Local sensing monitors the directly across the output terminals. Remote sensing, as described in Remote Sense Connection, measures across the terminal JS2. This external connection can be used to improve regulation at the point of load, as is needed for example, in compensating voltage drops caused by wire resistance.

Index:

0x2706

Access:

RW

Data Format:

16-bit Integer

Index:

0x2707

Access:

RO

Data Format:

16-bit Integer

4.9.5.10. CommProt

This command changes the command protocol of the Accessory.

Index:

0x2708

Access:

RW

Data Format:

16-bit Integer

Index:

0x2709

Access:

RO

Data Format:

16-bit Integer

4.9.5.11. SetSource

The command selects and routes different set points sources to the digital controller. Operation of this feature is described in Set Point Source. By default, the source is set to local (value 0), where set points originating from the front panel or communication interfaces are routed to the DBx Module digital control. When the source is set to function generator (value 1), set points are generated internally, by a periodic function generator block. When external analog input (value 3) is set, the voltage(s) applied to the rear connector are converted into set points.

Index:

0x270A

Access:

RW

Data Format:

16-bit Integer

Index:

0x270B

Access:

RO

Data Format:

16-bit Integer

4.9.5.12. MagnaLinkMode

This command changes the MagnaLINK mode to allow for standalone or master-slave configurations.

Index:

0x270C

Access:

RW

Data Format:

16-bit Integer

Index:

0x270D

Access:

RO

Data Format:

16-bit Integer

4.9.5.13. MagnaLinkReinit

This command should be used to reinitialize system ratings when a slave is added or removed from a master-slave configuration.

Index:

0x270E

Access:

RW

Data Format:

16-bit Integer