Kollmorgen AKD PDMM series, Руководство пользователя

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AKD PDMM User Guide | 50.2 AL Event (Interrupt Event) and Interrupt Enable
50.2 AL Event (Interrupt Event) and Interrupt Enable
Communication between the drive and the EtherCAT FPGA can be interrupt-driven. The interrupt enable
register and the AL event register are responsible for the EtherCAT interface interrupt functionality.
There are two events which lead also to a HW interrupt within the drive, the EEPROM emulation 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 SyncManager 2 event. The Mailbox
exchange between the master and the AKD PDMM 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 ena-
ble register is set to 1. When it is set to 0, the hardware interrupts for the specific events are deactivated.
50.2.1 Interrupt Enable Register (Address 0x0204:0x0205)
Parameter Addres-
s 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 inter-
rupts for entire communication
Sync1 DC Distributed
Clock 0x204 3 R/W R/O Activation of distributed clock (DC) sync 1 inter-
rupts for entire communication
SyncManager activation
register change 0x204 4 R/W R/O Activation of ‘SyncManager activation register
change’ IRQ.
EEPROM emulation
event 0x204 5 R/W R/O Activation of the EEPROM emulation 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 mailbox (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 process 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
476 Kollmorgen™ | December 2012