Communication Protocols
Copyright IXXAT Automation GmbH
116
IEM Manual, 1.5
5.3.8.3 Synchronization
EtherCAT supports both asynchronous and synchronous data exchange
mode. In synchronous mode, the Host reacts on the interrupt signaling that
output data is available on SHM and provides input data.
5.3.8.4 Safe output values
Output values shall be set to their safe state if the device is SAFEOP state.
The default setting is 0 for all process outputs. This value can be changed (see
chapter 5.3.13,
COM_k_ECT_RXPDO_INIT
).
By default, the safe state value is not protected to be overwritten by SDO
command. If this is required, state specific attributes have to be used.
5.3.9 Service Data Object (SDO)
Access to the object dictionary is possible if the configuration tool or master
provides SDO services. Complete access (request of all sub index entries from
one index in case of array or record) is supported for upload only.
Depending on the attributes of an object, the actual device state, the applica-
tion implementation and the SDO access, the IEM is able to return one of the
following error codes if a SDO access fails:
ABORTIDX_WRITE_ONLY_ENTRY
(value = 0x06)
No read access on this object
ABORTIDX_READ_ONLY_ENTRY
(value = 0x07)
No write access on this object
ABORTIDX_OBJECT_NOT_EXISTING
(value = 0x08)
The object index is not available
ABORTIDX_SUBINDEX_NOT_EXISTING
(value = 0x11)
The sub index of this object is not available
ABORTIDX_VALUE_ EXCEEDED
(value = 0x12)
The given value is not valid for this object
ABORTIDX_VALUE_TOO_GREAT
(value = 0x13)
The given value is too great for this object
Note:
Extended error codes can be used with write access to host data
o
Set extended error 1 = COM_k_INVALID_DATA
o
Set extended error 2 > 0
ABORTIDX_VALUE_TOO_SMALL
(value = 0x14)
The given value is too small for this object
Note:
Extended error codes can be used with write access to host data
