Stober SC6 Series, Руководство по эксплуатации

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STOBER 9 | Looking for more information about EtherCAT?
02/2020 | ID 443025.06
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Read parameter (Initiate Domain Upload Request)
The master uses an Initiate Domain Upload Request to initiate a read process for a communication parameter. The request
receives a positive acknowledgement from an Initiate Domain Upload Response of the slave.
Byte 1 2 3 6 5 4 7 8
0x40 LSB MSB MSB LSB LSB MSB
Master Slave
Command Index
Sub-
index
Reserved
Byte 1 2 3 6 5 4 7 8
0x42 LSB MSB MSB LSB LSB MSB
Command Index
Sub-
index
LSW data MSW data
Error message (Abort Domain Transfer)
A slave provides a negative response to the write parameter or read parameter requests using an Abort Domain Transfer
(see
SDO transmission: Error codes [
}
85] ).
Byte 1 2 3 6 5 4 7 8
0x80 LSB MSB MSB LSB LSB MSB
Master Slave
Command Index
Sub-
index
Additional
code
Error
code
Error
class
9.3.3 Emergency objects – EMCY
Emergency messages are triggered in the EtherCAT slave in the event that device-internal errors or faults occur and
transferred to the EtherCAT master using the mailbox channel. EMCY messages are specifically initiated by incorrect
parameterization of the SyncManager when starting the EtherCAT system, in the event of an incorrect state change within
the EtherCAT state machine or in the event of a change in or out of the Fault device state.
An EtherCAT slave constantly watches its own device state. If it switches to the Fault state, it transmits exactly one EMCY
message with the associated error code.
If the fault is acknowledged, the slave leaves the fault state and sends an EMCY message with the error code
NO ERROR .
This mechanism automatically notifies the EtherCAT master of when a slave enters and leaves the fault state and of the
associated cause for the fault.
EMCY message: Switch to the fault state
In accordance with the CANopen standard, an EMCY message is structured as follows when switching to the fault state.
Byte 1 2 3 6 5 4 7 8
Master Slave
EMCY
error code
Error
register
E82 E43 Free
43 0 0 0 0 0x10 0x01 0x29
Axis
The values of the STOBER-specific parameters E82 Event type and E43 Event cause are transmitted in the 4th and 5th bytes.
Byte 8 indicates which axis is affected. If the value is 0, the fault originates from axis A or the global part of the drive
controller. If the value is 1, the fault originates from axis B.
You can find a table with the potential encodings for an EMCY message in the appendix (see the chapter EMCY message –
Device fault: Error codes [ } 87] ).