Baumer ATD - Manual (Page 10)

EtherCAT 10/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
min temperature max temperature
-20°C 85°C 1
Table 3 Operating/Storage Temperature Range
2.3 ECAT Communication modes
The encoder supports three communication modes:
Asynchronous (Free run)
Synchronous to SM Read event
DC
Sync
Communication mode heavily impacts the encoder real time capability, system timing behavior and the sys-
tem resource workload of the Masters. For systems with high real time requirements such as for closed loop
applications the DC sync mode may be used. For position information systems with low real time require-
ments Free Run or Sync mode may be used instead.
Communication modes management takes place via XML file. The user may check the actual operating
mode by reading out the 0x1C33:01 object dictionary entry, this entry reflects the ECAT operating mode
(Please refer to Table 14 Sync Manager 3 Parameter List).
2.3.1 ECAT State Machine
The ECAT slave state machine reflects the system communication and operation state via the AL Con-
trol/Status registers, there are four possible supported states:
INIT state, is the default device state after power up AND OR without communication link.
In the PREOP State the Mailbox (SDO) communication on the Application Layer is enabled and
Process Data communication is disabled.
In the SAFEOP Mode the Master may configure encoder parameters using the Mailbox service data
transfer mechanism. The Process Data communication is enabled. DC timing characteristic e.g. jitter
does not fully reach the values as specified for OP mode.
In the OP Mode the encoder behaves as in SAFEOP with restrictions regarding encoder parameter
changes. DC timing characteristic are fully reached.
The encoder State Machine operating status is signalized via the RUN State LED and via AL Status Register.
LED arrangement is showed by the next picture, this arrangement is common for the whole EtherCAT en-
coder family (please refer to Chapter 4 Encoder Family Overview):
1
Operation on max temperature may degrade the max RPM, please refer to LIT[01], LIT[07]