Contents
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
3
Section 1
General information
4
1.1
About this manual
4
1.2
Target group
4
1.3
Definition of symbols
5
1.4
Abbreviations used
6
Section 2
Safety
8
2.1
Intended use
8
2.2
Notes on the online edition (PDF format)
9
Section 3
Installation/commissioning
10
3.1
Assembly/installation
10
3.1.1
Connection technology
11
3.1.2
Commissioning
11
3.1.2.1 Guide to commissioning
11
3.1.2.2 EtherCAT commissioning
12
Section 4
EtherCAT
13
4.1
Slave Register
13
4.2
AL event (interrupt event) and interrupt enable
14
4.2.1
Interrupt enable register (address 0x0204:0205)
14
4.2.2
AL Event (address 0x220:0221)
14
4.3
Phase runup
15
4.3.1
AL Control (address 0x0120:0x0121)
15
4.3.2
AL Status (address 0x0130:0x0131)
16
4.3.3
AL Status Code (address 0x0134:0x0135)
16
4.3.4
EtherCAT communication phases
17
4.4
CANopen over EtherCAT (CoE) state machine
18
4.4.1
Description of states
19
4.4.2
Commands in the control word
20
4.4.3
Bits of the status machine (status word)
21
4.5
Implemented operating modes
22
4.6
Setting the EtherCAT cycle time
22
4.7
Recommended cycle time based on the operating modes
23
4.8
Synchronisation based on the cycle time
23
4.9
Latch- control word and latch status word
24
4.10
Mailbox Handling
25
4.10.1
Mailbox Output
26
4.10.2
Mail Input
27
4.10.3
Example of a mailbox access
28
