EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
15
Parameter
Address Bit
ZA
Drive
ZA
ECAT
Description
Sync Manager 0
Event
0x221
0
r
r/w
Activating the Mailbox Output
Event (SDO, Sync Manager 0)
for the object channel
Sync Manager 1
Event
0x221
1
r
r/w
Activating the Mailbox Input
Event (SDO, Sync Manager 1)
for the object channel
Sync Manager 2
Event
0x201
2
r
r/w
Activating the process data Out-
put Event (PDO, cyclical set val-
ues of the card)
Sync Manager 3
0x201
3
r
r/w
Activating the process data Input
Event (PDO, cyclical actual val-
ues of the servo amplifier)
Sync Manager 4
– Sync Manager
7 Event
0x221
4 … 7 r
r/w
Reserved
Sync Manager 8
– Sync Manager
15 Event
0x222
0 … 7 r
r/w
Reserved
4.3
Phase runup
The registers AL Control, AL Status and AL Status Code are responsible for the communic-
ation phase runup (also called EtherCAT change of state) and the display of the current
status and any error messages are the registers AL Control, AL Status und AL Status
Code. Each Transition request of the EtherCAT interface by the AL Control Register and
each AL Control Event (Interrupt) is followed by the servo amplifier with the AL Status Re-
gister. Any error messages are displayed in the AL Status Code Register.
4.3.1
AL Control (address 0x0120:0x0121)
Parameter
Address
Bit
ZA
Drive
ZA
ECAT Description
Status
0x120
3 … 0 R
w
0x01: Init Request
0x02: PreOperational Request
0x03: Bootstrap Mode Request
0x04: Safe Operational Request
0x08: Operational Request
Acknow-
ledgement
0x120
4
R
w
0x00: No error reset
0x01: Error reset with positive
pulse edge
Reserved
0x120
7 … 5 R
w
--
Appl. specific 0x120
15 … 8 R
w
--
