EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
17
4.3.4
EtherCAT communication phases
INIT
:
Initialisation, no communication
PRE-OP
:
Mailbox active, parametrising
Slave and Startup parameters
SAVE-OP
:
Cyclical actual values are trans-
mitted, and the servo amplifier
tries to synchronise itself.
OPERATIONAL
:
Cyclical set values are processed,
torque release can be started and
the servo amplifier must be syn-
chronised.
Description of the individual communication transitions
Trans-
ition
AL Control
(Bit 3 … 0) Description
(IB)
0x03
Hardware reset requirement by the control.
(BI)
--
Hardware reset on the servo amplifier.
(IP)
0x02
Activation of the mailbox (SyncManager 0 and 1) and activation
of the amplifier synchronisation routine. As the EC interface does
not yet created cyclical interrupts, the warning n17 (no sync.) ap-
pears in the amplifier.
(PI)
0x01
Deactivation of all EtherCAT Events except AL control and stop-
ping of mailbox activities.
(PS)
0x04
The amplifier checks the communication configuration specified
by the Master in status Pre-Op. Non-fatal errors are deleted auto-
matically (no COLDSTART).
Mapping of various set and actual values (PDO mapping). The
mapping can be preset by the mailbox. The ECAT interface pro-
ducers cyclical interrupts and therefore cyclical actual values are
available to the EAT interface. The amplifier starts synchronising
with the cyclical IRQ of the ECAT interface. The Pro_In and
Pro_Out events are activated, which are responsible for the cyc-
lical set (Pro_Out) and actual values (Pro_In) of the amplifier.
(SP)
0x02
The ECAT interface no longer produces cyclical interrupts.
Therefore the warning for lost synchronisation in the amplifier
(in17) and the actual values are not activated further.
