AINFO EtherCAT: Data structure of the target area (interrupt information)
Byte Declaration Data type Description
10 ... n Data BYTE Content depends on the InterruptType:
AlarmType: Content
BUS_STATE_CHANGED: Data structure
2
DIAGNOSTICS_INTERRUPT_GOING: CoE-Emergency
3
DIAGNOSTICS_INTERRUPT_COMMING: CoE-Emergency
PROCESS_INTERRUPT: CoE-Emergency
MANUFACTOR_SPECIFIC_INTERRUPT_MIN: CoE-Emergency
SLAVE_STATE_CHANGED: AL Status Code
4
CONTROLLER_FAILURE: Failure code
5
CONTROLLER_FAILURE_WATCHDOG: reserved
TOPOLOGY_OK: reserved
TOPOLOGY_MISMATCH: reserved
1) EtherCAT-States
Ä
788
2) Data structure BUS_STATE_CHANGED
Ä
789
3) CoE emergency
Ä
789
4) AL Status Code
Ä
789
5) Failure code
Ä
789
14.2.22.2 EtherCAT-States
The bus states are coded as follows
Name Code Description
Undefined/Unknown 0x00 This status has a slave before he could carry out its initialization routines.
For the VIPA EtherCAT master a slave has the undefined state, if there is a
slave failure (disconnect).
Init 0x01 There is no direct communication between master and slaves. In this state
the master initializes the configuration register of the ESC. There is no
process data or mailbox communication.
PreOp 0x02 In this state mailbox communication is possible, but there is no process data
communication.
BootStrap 0x03 Special state of the EtherCAT slave, there only mailbox communication
takes place. For a firmware update of the salve, the slave must be switched
in this state.
SafeOp 0x04 In the state SafeOp mailbox communication is possible an process input
data can be exchanged. However, there will be no exchange of process
output data.
Op 0x08 In this state mailbox and process data can be exchanged.
VIPA SPEED7
Integrated Standard
System Function Blocks > SFB 54 - RALRM - Receiving an interrupt from a periphery module
HB00 | OPL_SP7 | Operation list | en | 18-30 788
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