Wenglor EtherCAT ZAI02CN0x, Руководство по эксплуатации

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26 Detailed Description of the Object Directory for EtherCAT
7.4 Device status
Status byte Bit position Meaning
0
0
Error (active as soon as another error bit is activated)
1
Internal device error
2
U
digital I/O
too low
3
Outputs shut down (due to excessive temperature)
4
Short-circuit at at least one output
5
–
6
Temperature too high
7
Temperature too low
1 0 – 7
–
7.5 Port Allocation
Byte 1 (e.g. 0x6000:01) Byte 2 (e.g. 0x6000:02)
Pin 2 Pin 4
Bit 8 7 6 5 4 3 2 1 Bit 8 7 6 5 4 3 2 1
Port X7 X6 X5 X4 X3 X2 X1 X0 Port X7 X6 X5 X4 X3 X2 X1 X0
7.6 EtherCAT State, Machine
The Connection Box’s digital outputs function differently depending on the device state:
• Init: outputs set to “0”. No communication with the device.
• PreOp: The outputs are switched to “0” upon changing to the PreOp state. Configuration via acyclic data
(SDO) and the website is then possible.
• SafeOp: The outputs are switched in accordance with the “fault value” and “fault action” configurations
upon changing to the SafeOp state. The outputs cannot be configured in this state.
• Op: Process output data from the master are transmitted to the Connection Box’s outputs.
If connection fails while in the Op state, the Connection Box is switched to the SafeOp state and the outputs
are set in accordance with the “fault value” and “fault action” configurations. In the case of EtherCAT, estab-
lishment of communication runs through the following states. This should be taken into consideration for
start-up, as well as for restart after a communication failure.
Init
 PreOp  SafeOP  Op.