Appendix A Technical Specification; Network Interface Details; General Information; Sync Managers - HMS EtherCAT Slave Addendum

Technical Specification

Network Interface Details

General Information

The EtherCAT Slave Interface acts as a full EtherCAT slave device with the following properties:
General Properties
• Full EtherCAT slave device
• 4 FMMU channels (can be used freely by the EtherCAT master for any purpose.)
• 4 SM channels
• Bit-oriented FMMU operation
• Position addressing, node addressing and logical addressing
• PDI Watchdog
• Output I/O Sync Manager Watchdog
Supported Features
• CANopen over EtherCAT
• DS301 v4.02 compliant
• Supports segmented SDO access
• Up to 512 bytes of cyclic data in each direction

Sync Managers

The EtherCAT Slave Interface features four Sync Managers:
• Sync Manager 0
Used for mailbox write transfers (Master to Slave).
The Slave Interface supports mailbox sizes of 50... 256 bytes (default = 192).
• Sync Manager 1
Used for mailbox read transfers (Slave to Master).
The Slave Interface supports mailbox sizes of 50... 256 bytes (default = 192).
• Sync Manager 2
Contains the RxPDOs specified by the PDO assignment.
In practice, Sync Manager 2 holds the unmodified Output I/O data.
• Sync Manager 3
Contains the TxPDOs specified by the PDO assignment.
In practice, Sync Manager 3 holds the unmodified Input I/O data.
Appendix A