Hi everyone,
The following questions are about the ESC specification.
If this question is not appropriate for this thread, please let me know. I confirm with ETG.
(Q1)
When communication is established, the 9 bits (port 0 communication) of ESC DL Status (0x110-111) are described as "1".
download.beckhoff.com/.../ethercat_esc_datasheet_sec2_registers_2i8.pdf
When is this going to be "1"?
In the case of Ethernet, when the receiving side and the sending side return ACK respectively, it takes "communication established", but
I did not know about Ethercat.
(Q2)
My customer has set 0x100(ESC DL Control) to Auto Close.
In order to set Ethercat's Port to Open, it is recognized that writing 01 to LoopPort 0 to 3 of 0x100(ESC DL Control) from the master will be Open.
Is this correct?
(Q3)
The 8,10,12,14bits of 0x110 (ESC DL Status) indicate the port status (open or close).
Is the processing sequence correct in the following order?
- DL Status becomes Communication establised
- Master instructs slave to detect and open port
- DL Status becomes port Open
Best regards,
Sasaki
