Functional description
The monitoring function checks whether an EtherCAT PDO telegram (sync manager 2 event) has arrived between two sync signals. For this purpose, the communication module is provided with an internal EtherCAT telegram failure error counter. The telegram failure error counter is incremented by the value 3 when a telegram fails. For each correctly received PDO, the counter is decremented by the value 1. If the internal telegram failure error counter reaches a threshold (adjustable in CoE index 0x10F1/2 ), the status changes to "Safe-Operational" and the new error message 0x8700 (sync telegram failure) is output. In the standard setting, the monitoring function is deactivated (0x10F1/2 = 0). A setting of > 5 is recommendable here, so that an error is only triggered when a second telegram in the controller has failed. An error response can be set via the new code C13880/2 (default value: "0: No response").
Which products are affected?
EtherCAT E94AYCET FV 4.02 communication module
Applications
When the EtherCAT slave is actuated with DC synchronisation, a PDO telegram monitoring between 2x sync signals is reasonable. This function is also available in the Lenze i700 servo controller.
