Instruction Manual HIPERDRIVE with EtherCAT
16
5 The EtherCAT interface
5.1 EtherCAT interface with CoE protocol (CANopen over
EtherCAT)
The EtherCAT interface uses the CANopen over EtherCAT protocol in accordance
with ETG1000.6 Section 5.6:
one send and one receive SDO per device
one asynchronous send and receive PDO, active by default
Meaning of the LEDs:
1) Each of the ports (P1/P2) has an associate
d green LED for the “Link” and
“Activity” states.
For each port the following states are possible:
- off
no line connection
- flickering at 10 Hz
line connection; data transmission active
- on
line connection; data transmission inactive
2) The green “Run” LED signals the ESM status:
- off
INIT
- flashes at 2.5Hz
PRE-OPERATIONAL
- single flashes at 1Hz
SAFE-OPERATIONAL
- on
OPERATIONAL
3) The red
“Error” LED signals an error:
- off
no error
- single flashes at 1Hz
local fault, application is changing ESM status
- double flashes at 1Hz
watchdog timeout
- flashes at 2.5Hz
configuration fault
