ABB FECA-01 EtherCAT, Руководство пользователя

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96 Communication protocol
Emergency Objects
Emergency Objects (EMCYs) are used for sending fault
information from the communication module and the drive to the
EtherCAT network. They are transmitted whenever a fault occurs
in the drive or the adapter module. Only one Emergency Object is
transmitted per fault. EMCYs are transmitted via the Mailbox
interface.
There are a number of error codes specified for different events.
The error codes are listed in Appendix B – CoE error codes .
Communication between adapter module and
drive
There are two mechanisms of cyclic process data transmission
between the drive and the adapter module:
•
faster, cyclic high priority communication service suitable for
control
•
slower, cyclic low priority communication service suitable
mainly for secondary purposes, for example monitoring.

Cyclic high priority communication
The minimum update cycle time for the following drives is:
ACSM1, ACS850 and ACS880: 500 us (2000 Hz)
ACS355: approximately 4 ms (250 Hz)
ACS580: 2 ms (500 Hz)
Use the high priority service for axis commands and feedback
data, ie, torque, velocity and position commands and feedback
values. There is room for the drive control word and reference
values (command values) and the drive status word and two actual
values (feedback values).
The values of the following objects are transferred – or the data
where the values of the following objects are derived is transferred
– between the drive and the adapter module via the cyclic high
priority service.