NP5 EtherCAT Online Manual

EtherCAT

EtherCAT references: www.ethercat.org.

  • ETG.1000.1 - Overview, Date: 03.01.2013, Version 1.0.3
  • ETG.1000.2 - Physical Layer service and protocol specification, Date: 03.01.2013, Version 1.0.3
  • ETG.1000.3 - Data Link Layer service definition, Date: 03.01.2013, Version 1.0.3
  • ETG.1000.4 - Data-link layer protocol specification, Date: 03.01.2013, Version 1.0.3
  • ETG.1000.5 - Application layer service definition, Date: 03.01.2013, Version 1.0.3
  • ETG.1000.6 - Application layer protocol specification, Date: 03.01.2013, Version 1.0.3
  • ETG.1300 - Indicator and Labeling specification, Date: 11.11.2014, Version 1.1.0.2
Savable Preset value Change history
yes, category: communication

PD6-E891L95-E-65-1: 0000128Eh

PD6-E891L95-ES-65-1: 0000128Eh

PD6-EB80CD-E-65-1: 000030D4h

PD6-EB80CD-ES-65-1: 000030D4h

FIR-v1426: -

FIR-v1540: The number of entries was changed from 4 to 3.

FIR-v1540: "Name" entry changed from "Period Of Blocking" to "Block Detection time".

FIR-v1614: "Data Type" entry changed from "UNSIGNED32" to "INTEGER32".

FIR-v1614: "Savable" entry changed from "no" to "yes, category: application".

FIR-v1614: "Data type" entry changed from "UNSIGNED32" to "INTEGER32".

FIR-v1614: "Data type" entry changed from "UNSIGNED32" to "INTEGER32".

Savable Access PDO mapping Preset value Change history
yes, category: communication r/w TX-PDO

PD6-E891L95-E-65-1: 0000128Eh

PD6-E891L95-ES-65-1: 0000128Eh

PD6-EB80CD-E-65-1: 000030D4h

PD6-EB80CD-ES-65-1: 000030D4h

FIR-v1426: -

FIR-v1540: The number of entries was changed from 4 to 3.

FIR-v1540: "Name" entry changed from "Period Of Blocking" to "Block Detection time".

FIR-v1614: "Data Type" entry changed from "UNSIGNED32" to "INTEGER32".

FIR-v1614: "Savable" entry changed from "no" to "yes, category: application".

FIR-v1614: "Data type" entry changed from "UNSIGNED32" to "INTEGER32".

FIR-v1614: "Data type" entry changed from "UNSIGNED32" to "INTEGER32".

Subindex Data type Access PDO mapping Preset value
00h Number Of Entries UNSIGNED8 ro no
01h Restore All Default Parameters UNSIGNED32 r/w TX-PDO

PD6-E891L95-E-65-1: 0000128Eh

PD6-E891L95-ES-65-1: 0000128Eh

PD6-EB80CD-E-65-1: 000030D4h

PD6-EB80CD-ES-65-1: 000030D4h

02h Restore Communication Default Parameters UNSIGNED32 r/w no

PD6-E891L95-E-65-1: 0000128Eh

PD6-E891L95-ES-65-1: 0000128Eh

PD6-EB80CD-E-65-1: 000030D4h

PD6-EB80CD-ES-65-1: 000030D4h

02h Restore Application Default Parameters UNSIGNED32 r/w no
02h Restore Customer Default Parameters UNSIGNED32 r/w no
02h Restore Drive Default Parameters UNSIGNED32 r/w no

PD6-E891L95-E-65-1: 0000128Eh

PD6-E891L95-ES-65-1: 0000128Eh

PD6-EB80CD-E-65-1: 000030D4h

PD6-EB80CD-ES-65-1: 000030D4h

02h Restore Tuning Default Parameters UNSIGNED32 r/w no
02h Restore Miscellaneous Configurations UNSIGNED32 r/w no
02h Restore Reserved1 Configurations To Non-volatile Memory UNSIGNED32 r/w no
02h Restore Reserved2 Configurations To Non-volatile Memory UNSIGNED32 r/w no
02h Restore CANopen Configurations To Non-volatile Memory UNSIGNED32 r/w no
02h Restore Modbus RTU Configurations To Non-volatile Memory UNSIGNED32 r/w no
02h Restore Ethernet Configurations To Non-volatile Memory UNSIGNED32 r/w no
02h Restore Profibus Configurations To Non-volatile Memory UNSIGNED32 r/w no

PD6-E891L95-E-65-1: 0000128Eh

PD6-E891L95-ES-65-1: 0000128Eh

PD6-EB80CD-E-65-1: 000030D4h

PD6-EB80CD-ES-65-1: 000030D4h

Behavior upon exiting the OPERATIONAL state

If an error (watchdog, heartbeat, etc.) occurs on the bus, the controller automatically switches to the SAFEOPERATIONAL state. You can set the reaction in the object 6007h.

If the EtherCAT master switches from the OPERATIONAL state to the SAFEOPERATIONAL state, the controller (slave) sets all input values (RX-PDO) to the value "0". This also sets the object 6040h (controlword) to "0", which causes the motor to coast to a stop.

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