EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
16
4.3.2
AL Status (address 0x0130:0x0131)
Parameter
Address Bit
ZA
Drive
ZA
ECAT Description
Status
0x130
3 … 0
w
r
0x01: Init
0x02: PreOperational
0x03: Bootstrap Mode
0x04: Safe Operational
0x08: Operational
Change of
state
0x130
4
w
r
0x00: Confirmation during change of
state
0x01: Error during change of state,
e.g. with not permitted transition
Reserved
0x130
7 … 5
w
r
--
Appl. specific 0x130
15 … 8 w
r
--
4.3.3
AL Status Code (address 0x0134:0x0135)
Parameter
Address
Bit
ZA
Drive
ZA
ECAT Description
Status
0x134
7 … 0 w
r
See table below
Status
0x135
7 … 0 w
r
See table below
Code
Description
Current status
(change of state)
Resulting status
0x0000
No error
All
Current status
0x0011
Faulty change of
state request
I -> S, I -> O, P -> O,
O -> B, S -> B, P -> B
Current E
0x0017
Incorrect synchron-
isation manager
configuration
P -> S, S -> O
Current E
0x001A
Synchronisation er-
ror
O S -> O
S + E
Other codes are not supported.
