Communication Status - WEG SCA06 User Manual

Without synchronized interrupt (SM-Synchron): for each EtherCAT telegram received, an interrupt is gen-
erated to update the data process.
Synchronized network interrupt (DC-Synchron): the equipment also allows to use a distributed clock mech-
anism, where data is updated at regular intervals by the equipment simultaneously, and these clocks are
synchronized by the EtherCAT network.
9.4

COMMUNICATION STATUS

Once the network is installed and master is programmed, you can use the device parameters to identify some states
related to communication. The network master must also provide information about communication with slave.
Parameter P0851 indicates communication status for EtherCAT interface.
Parameter P0852 provides information about communication link for each Ethernet port.
Parameter P0853 indicates the slave state, with respect to the EtherCAT state machine.
Parameters P0855 to P0858 indicate PDO usage and number of mapped data.
Parameter P0859 indicates the update time for data exchange with the master.
9.5 OPERATION USING PROCESS DATA
Once communication is established, the data mapped in the PDOs are automatically updated between master and
slave. Among the main objects that can be used to control the drive, we can mention:
6040h: ControlWord
6041h: StatusWord
6060h: Mode of operation
6063h: Position actual value
607Ah: Target position
60FFh: Target velocity
6071h: Target Torque
It is important to know these objects and understand the operation of each mode of operation to program the master
as desired for the application.
Startup Guide
SCA06 | 43