NSD ABSOCODER NCW-3DNECMP Specifications & Instruction Manual page 29

*7: EtherCAT AL Status
AL Status(L)
AL Status(H)
Reserved
Bit position Bit name
4 ERR
3-0 ACTSTATE
*8: EtherCAT AL Control
AL Control(L)
AL Control(H)
Reserved
Bit position Bit name
4 ERRINDACK
3-0 INISTATE
7 6 5
15 14 13
23 22 21
Error indicator
0: Device is in State as requested or Flag cleared by command
1: Device has not entered requested State or changed State as result of
a local action
Actual state of the device state machine
1: Init state
3: Request Bootstrap state
2: Pre-Operational state
4: Safe-Operational state
8: Operational state
7 6 5
15 14 13
23 22 21
Aknowledges the error notice.
0: AL Status register error notice isn't acknowledged.
1: AL Status register error notice is acknowledged.
Request to change state 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
4 3
AL Status(L)
12 11
AL Status(H)
20 19
Reserved
Description
4 3
AL Control(L)
12 11
AL Control(H)
20 19
Reserved
Description
22
2 1 0
10 9 8
18 17 16
2 1 0
10 9 8
18 17 16