Beckhoff EtherCAT Technology Section I Instrukcja Użytkownika Pobierz pdf (Strona 8)

CONTENTS

I-VIII Slave Controller – Technology

9.1.6 Reference between DC Registers/Functions and Clocks 58

9.1.7 When is Synchronization established? 59

9.1.8 Clock Synchronization Initialization Example 59

9.2 SyncSignals and LatchSignals 60

9.2.1 Interface 60

9.2.2 Configuration 60

9.2.3 SyncSignal Generation 61

9.2.4 LatchSignals 64

9.2.5 ECAT or PDI Control 65

9.3 System Time PDI Controlled 66

9.4 Communication Timing 68

10 EtherCAT State Machine 70

10.1 EtherCAT State Machine Registers 71

10.1.1 AL Control and AL Status Register 71

10.1.2 Device Emulation 71

10.1.3 Error Indication and AL Status Code Register 71

11 SII EEPROM 72

11.1 SII EEPROM Content 73

11.2 SII EEPROM Logical Interface 74

11.2.1 SII EEPROM Errors 75

11.2.2 SII EEPROM Interface Assignment to ECAT/PDI 76

11.2.3 Read/Write/Reload Example 77

11.2.4 EEPROM Emulation 77

11.3 SII EEPROM Electrical Interface (I

C) 78

11.3.1 Addressing 78

11.3.2 EEPROM Size 78

11.3.3 I²C Access Protocol 79

11.3.4 Timing specifications 80

12 Interrupts 82

12.1 AL Event Request (PDI Interrupt) 82

12.2 ECAT Event Request (ECAT Interrupt) 83

12.3 Clearing Interrupts Accidentally 83

13 Watchdogs 84

13.1 Process Data Watchdog 84

13.2 PDI Watchdog 84

14 Error Counters 85

14.1 Frame error detection 86

14.2 Errors and Forwarded Errors 86

15 LED Signals (Indicators) 87

15.1 RUN LED 87

15.1.1 RUN LED override 87

1 2 3 4 5 6 7 8 9 10 11 12 13 ... 115 116

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