Beckhoff EtherCAT Registers Section II Bedienungsanleitung PDF herunterladen (Seite 33)

AL Control (0x0120:0x0121)

Slave Controller – Register Description II-21

3.20 AL Control (0x0120:0x0121)

Table 24: Register AL Control (0x0120:0x0121)

ESC20

ET1100

ET1200

IP Core

[15:5]

(w ack)

[15:5]

V2.4.0/

V2.04a

Bit

Description

ECAT

PDI

Reset Value

3:0

Initiate State Transition of the Device State

Machine:

1: Request Init State

3: Request Bootstrap State

2: Request Pre-Operational State

4: Request Safe-Operational State

8: Request Operational State

r/(w)

(w ack)*

Error Ind Ack:

0: No Ack of Error Ind in AL status register

1: Ack of Error Ind in AL status register

r/(w)

(w ack)*

Device Identification:

0: No request

1: Device Identification request

r/(w)

(w ack)*

15:6

Reserved, write 0

r/(w)

(w ack)*

NOTE: AL Control register behaves like a mailbox if Device Emulation is off (0x0140.8=0): The PDI has to

read/write* the AL Control register after ECAT has written it. Otherwise ECAT cannot write again to the AL Control

0x0120 and 0x0121 are equivalent, e.g. reading 0x0121 is sufficient to make this register writeable again.)

If Device Emulation is on, the AL Control register can always be written, its content is copied to the AL Status

* PDI register function acknowledge by Write command is disabled: Reading AL Control from PDI clears AL Event

Request 0x0220[0]. Writing to this register from PDI is not possible.

PDI register function acknowledge by Write command is enabled: Writing AL Control from PDI clears AL Event

Request 0x0220[0]. Writing to this register from PDI is possible; write value is ignored (write 0).

1 2 ... 28 29 30 31 32 33 34 35 36 37 38 ... 97 98

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