Mailbox Output - Pilz PMCtendo DD5 Operating Manual

EtherCAT
4.10.1

Mailbox Output

An interrupt of the EtherCAT interface with a Sync Manager 0 - Event starts a Mailbox Out-
put process. A 1 in the Mail Out Event-Bit of the AL Event Registers signalised to the servo
amplifier that the EtherCAT interface wants to transmit a mailbox news and that it has
already stored the requested data in the Mail Out Buffer. The servo amplifier reads in the
IRQ routine 16 byte from the Mail Out Buffer.
Meaning of the individual bytes:
Address 0x1800
0
Byte 0 Length of the following data from Byte 2 (Low Byte)
Byte 1 Length of the following data from Byte 2 (High Byte)
Byte 2 Address (Low Byte)
Byte 3 Address (High Byte)
Byte 4 Bits 0 ... 5: Channel
Byte 5 Bits 0 ... 3: Type
Byte 6 PDO number
Byte 7 Bit 0: MSB of the PDO number, see Byte 6)
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
1 2 3 4
CAN over EtherCAT specific data
CoE Header
Bit 6 ... 7: Priority
– 1 = Reserved: ADS over EtherCAT
– 2 = Reserved: Ethernet over EtherCAT
– 3 = CAN over EtherCAT...)
Bits 4 ... 7: Reserved
(Only in case of PDO transmission, Bit 0 = LSB of the PDO number, see Byte 7
for MSB)
Bit 1 ... 3: Reserved
Bit 4 ... 7: CoE specific type
– 0: Reserved
– 1: Emergency message
– 2: SDO requirement
– 3: SDO response
– 4: TXPDO
– 5: RxPDO
– 6: Remote transmission request of a TxPDO
– 7: Remote transmission request of a RxPDO
– 8 ... 15: Reserved for later applications
Address 0x180F
5 6 7 8 9 10 11 12 13
CAN specific data
(standard CAN SDO)
14 15
26