EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
18
Trans-
ition
AL Control
(Bit 3 … 0) Description
(SI)
0x01
Deactivate all EtherCAT Events except AL Control. In addition,
the ECAT interface does not send any more interrupts, and the
amplifier loses synchronisation (warning n17) and it no longer up-
dates the actual values. Also, all mailbox activities are stopped.
(SO)
0x08
The amplifier finishes this transition only when synchronisation
has been performed, the synchronisation warning (n17) is de-
leted. Otherwise a synchronisation error (F28) is set after a time-
out period. This transition enables the editing of the control word
and therefore the acceptance and processing of the cyclical PDO
set values.
(OS)
0x04
Locking the set value acceptance
(OP)
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.
(OI)
0x01
Deactivate all EtherCAT Events except AL Control. In addition,
the ECAT interface does no longer send interrupts, and the amp-
lifier loses synchronisation (warning n17) and it no longer up-
dates the actual values. Stopping of a mailbox activities.
4.4
CANopen over EtherCAT (CoE) state machine
The state machine for control word and status word corresponds to the CANopen state ma-
chine according to DA402. Control word and status word can be found in any fixed PDO
mapping.
