4.2 AL Event (Interrupt Event) and Interrupt Enable
Communication between the drive and the EtherCAT FPGA can be interrupt-driven. The inter-
rupt enable register and the AL event register are responsible for the EtherCAT interface inter-
rupt functionality.
There are two events which lead also to a HW interrupt within the drive, the EEPROM emu-
lation event and the SyncManager 2 event. The actual values of the drive (SyncManager 3
data) are written without any AL event request during each HW IRQ, e.g. triggered by a Syn-
cManager 2 event. The Mailbox exchange between the master and the AKD is completely
handled by polling the AL event register within the background task of the drive.
The drive activates individual EtherCAT interface events when the corresponding bit of the
interrupt enable register is set to 1. When it is set to 0, the hardware interrupts for the specific
events are deactivated.
4.2.1 Interrupt Enable Register (Address 0x0204:0x0205)
Parameter
Address
Bit
ZA
Drive
ZA
ECAT
Description
AL Control Event
0x204
0
R/W
R/O
Activation of AL control event for
phase run-up
-
0x204
1
R/W
R/O
Reserved
Sync0 DC Distributed
Clock
0x204
2
R/W
R/O
Activation of distributed clock
(DC) sync 0 interrupts for entire
communication
Sync1 DC Distributed
Clock
0x204
3
R/W
R/O
Activation of distributed clock
(DC) sync 1 interrupts for entire
communication
SyncManager activation
register change
0x204
4
R/W
R/O
Activation of ‘SyncManager activ-
ation register change’ IRQ.
EEPROM emulation
event
0x204
5
R/W
R/O
Activation of the EEPROM emu-
lation interrupts.
-
0x204
3 to 7 R/W
R/O
Reserved
Sync Manager 0 Event
(Mail Out Event)
0x205
0
R/W
R/O
Activation of output event mail-
box (SDO, Sync Manager 0) for
object channel.
Sync Manager 1 Event
(Mail In Event)
0x205
1
R/W
R/O
Activation of input event mailbox
(SDO, Sync Manager 1) for
object channel.
Sync Manager 2 Event
(Pro Out Event)
0x205
2
R/W
R/O
Activation of output event pro-
cess data (PDO, card's cyclical
setpoints)
Sync Manager 3 Event
(Pro In Event)
0x205
3
R/W
R/O
Activation of input event process
data (PDO, drive's cyclical
actual values)
-
0x205
4 to 7 R/W
R/O
Reserved
AKD EtherCAT | 4 EtherCAT Profile
Kollmorgen | kdn.kollmorgen.com | October 2017
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