PD4-EB 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

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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