ABB RECA-01, User Manual

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Communication
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Sync manager channel 3
Sync manager 3 is used for process input data. It contains the Tx
PDOs specified by the PDO assignment object 0x1C13 (hex).
Watchdogs
The RECA-01 module provides two watchdogs, with which the
functionality of the module and connection can be monitored. The
watchdogs are configured and enabled by the EtherCAT® master.
PDI watchdog
The PDI watchdog monitors the module's CPU. Each access from
the CPU to the ESC (EtherCAT® Slave Controller) resets this
watchdog.
Sync manager watchdog
The sync manager watchdog monitors the output sync managers.
If the output I/O data is not updated by the master within the
configured time the watchdog will timeout and reduce the state of
the module from OP to SAFEOP. The resolution of this watchdog
is 1 ms.
Note: EtherCAT® by design provides no way for a slave to
monitor the connection to the master if the slave has no output
data.
Note: The drive reaction to a communication fault must be
configured separately. Consult the drive manual for more
information.
EtherCAT® state machine
RECA-01 implements the EtherCAT® state machine mandatory
for all EtherCAT® devices. The state machine is defined in
following figure
EtherCAT® state machine . The bootstrap state is
not supported.