Infranor XtrapulsGem - Synchronisation Clock Object; Read Access to the Fieldbus Controller Registers; RPDO Watchdog Time

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X
trapuls – EtherCAT® Fieldbus Interface
Chapter 4 – Specifications of the SDOs and PD0s for the EtherCAT®
4.1.6 – SYNCHRONISATION CLOCK OBJECT
Index 0x2012
Name Synchronisation Type
Object Code ARRAY
Number of elements 1
Value description
Sub Index 1
Name Synchronisation clock
Object Code VAR
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Default Value 4
Synchronisation clock Description
0 No synchronisation of the servo loop; no PDO mapping
1 No synchronisation of the servo loop; PDO mapping performed
2 Soft synchronisation of the servo loop; PDO mapping performed
4 Hard synchronisation of the servo loop; PDO mapping performed
4.1.7 – READ ACCESS TO THE FIELDBUS CONTROLLER REGISTERS
Value description
Index 0x2320
Name Read access to the Fieldbus controller (ESC) registers
Object Code VAR
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Default Value 0
ESC register read sequence has to be performed as follows:
1- write into the object (index 0x2320 sub-index 0) the address of the ESC register to be read
2- read from the object the data stored at the previously written address
4.1.8
– RPDO WATCHDOG TIME
Value description
Index 0x2321
Name RPDO watchdog time
Object Code VAR
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Default Value 0 (0: not used)
Unit milliseconds
Starting at the reception of the first RPDO, if no RPDO is received after the RPDO watchdog time, bit 13 of the
error monitoring object value (index 3022h sub-index 2) is set to one. The EtherCAT® slave autonomously
changes to the Safe-Op state.