EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
26
4.10.1
Mailbox Output
An interrupt of the EtherCAT interface with a Sync Manager 0 - Event starts a Mailbox Out-
put process. A 1 in the Mail Out Event-Bit of the AL Event Registers signalised to the servo
amplifier that the EtherCAT interface wants to transmit a mailbox news and that it has
already stored the requested data in the Mail Out Buffer. The servo amplifier reads in the
IRQ routine 16 byte from the Mail Out Buffer.
Meaning of the individual bytes:
Address 0x1800
Address 0x180F
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
CAN over EtherCAT specific data
CoE Header
CAN specific data
(standard CAN SDO)
Byte 0 Length of the following data from Byte 2 (Low Byte)
Byte 1 Length of the following data from Byte 2 (High Byte)
Byte 2 Address (Low Byte)
Byte 3 Address (High Byte)
Byte 4 Bits 0 … 5: Channel
Bit 6 ... 7: Priority
Byte 5 Bits 0 … 3: Type
– 1 = Reserved: ADS over EtherCAT
– 2 = Reserved: Ethernet over EtherCAT
– 3 = CAN over EtherCAT…)
Bits 4 … 7: Reserved
Byte 6 PDO number
(Only in case of PDO transmission, Bit 0 = LSB of the PDO number, see Byte 7
for MSB)
Byte 7 Bit 0: MSB of the PDO number, see Byte 6)
Bit 1 ... 3: Reserved
Bit 4 ... 7: CoE specific type
– 0: Reserved
– 1: Emergency message
– 2: SDO requirement
– 3: SDO response
– 4: TXPDO
– 5: RxPDO
– 6: Remote transmission request of a TxPDO
– 7: Remote transmission request of a RxPDO
– 8 … 15: Reserved for later applications
