9
trapuls – EtherCAT® Fieldbus Interface
Chapter 3 – Electrical installation
3.2.2 - RUN INDICATOR
Label name Color Function
State LED coding
RUN Green
State of the EtherCAT state machine
Init Off
Pre-Op Blinking
Safe-Op Single Flash
Operational On
3.2.3 - ERROR INDICATOR
Label name Color Function
State LED coding
ERR Red
Errors
No error Off
Booting error Flickering
Invalid Configuration Blinking
Unsollicited state change Single Flash
Application watchdog timeout Double Flash
3.3 SLAVE ADDRESSING MODES
The EtherCAT® master has the possibility to use 3 addressing modes:
Logical addressing
: this addressing mode is only and mandatory used for the process data exchange (PDOs).
Position addressing: this addressing mode is used for example during the start up of the EtherCAT® system to
scan the fieldbus and during the distributed clocks compensation.
Node addressing
: This addressing mode is used for the setup of the communication parameters of the ESC and
also during the SDO exchanges. Two addresses are available in this mode:
- The configured station address is assigned by the master during start up and cannot be modified by the slave;
- The configured station alias is assigned by the slave but needs to be enabled by the EtherCAT® master.
The 6 switches labelled “node ID” on the amplifier front panel are decoded at power-on of the drive and stored in
the object Device ID (index 200Ah sub-index 1) and in the configured station alias.
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