AKD User Guide |
21.4.12.1 Mailbox Output
An interrupt by the EtherCAT-interface with a Sync Manager 0 - Event starts a Mailbox Output Process. A 1 in
the Mail Out Event-Bit of the AL Event register signalizes the drive, that the EtherCAT-interface wants to send a
Mailbox message and that it has already stored the required data in the Mail Out Buffer. Now 16 Byte data are
read by the drive with the IRQ process. The bytes are defined as follows
Address 0x1800 Address 0x180F
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
CAN over EtherCAT specific data
(CoE Header)
CAN specific data
(standard CAN SDO)
Byte 0 Length of the data (Low Byte)
Byte 1 Length of the data (High Byte)
Byte 2 Address (Low Byte)
Byte 3 Address (High Byte)
Byte 4 Bit 0 to 5: Channel
Bit 6 to 7: Priority
Byte 5 Bit 0 to 3: Type 1 = Reserved: ADS over EtherCAT
2 = Reserved: Ethernet over EtherCAT
3 = Can over EtherCAT…)
Bit 4 to 7: Reserved
Byte 6 PDO Number (with PDO transmissions only, Bit 0 = LSB of the PDO number, see Byte 7 for MSB)
Byte 7 Bit 0: MSB of the PDO number, see Byte 6
Bit 1 to 3: Reserved
Bit 4 to 7: CoE specific type 0: Reserved
1: Emergency message
2: SDO request
3: SDO answer
4: TXPDO
5: RxPDO
6: Remote transmission request of a TxPDO
7: Remote transmission request of a RxPDO
8…15: reserved
Byte 8 Control-Byte in the CAN telegram:
write access: 0x23=4Byte, 0x27=3Byte, 0x2B=2Byte, 0x2F=1Byte
read access: 0x40
Byte 9 Low Byte of the CAN object number (Index)
Byte 10 High Byte of the CAN object number (Index)
Byte 11 Subindex according to CANopen Specification for the drive
Byte 12 Data with a write access (Low Byte)
Byte 13 Data with a write access
Byte 14 Data with a write access
Byte 15 Data with a write access (High Byte)
The drive answers every telegram with an answer in the Mailbox Input buffer.
59 Kollmorgen | December 2010
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