AL Event (Interrupt Event) and Interrupt Enable

Communication between the drive and the EtherCAT FPGA can be interrupt-driven. The interrupt enable register and the AL event register are responsible for the EtherCAT interface interrupt functionality.

There are two events which lead also to a HW interrupt within the drive, the EEPROM emulation event and the SyncManager 2 event. The actual values of the drive (SyncManager 3 data) are written without any AL event request during each HW IRQ, e.g., triggered by a SyncManager 2 event. The Mailbox exchange between the master and the AKDMKD is completely handled by polling the AL event register within the background task of the drive.

The drive activates individual EtherCAT interface events when the corresponding bit of the interrupt enable register is set to 1. When it is set to 0, the hardware interrupts for the specific events are deactivated.

Interrupt Enable Register (Address 0x0204:0x0205)

Parameter Address

Bit

ZA
Drive

ZA
ECAT

 Description

AL Control Event

0x204

0

R/W

R/O

Activation of AL control event for phase run-up

-

0x204

1

R/W

R/O

Reserved

Sync0 DC Distributed Clock

0x204

2

R/W

R/O

Activation of distributed clock (DC) sync 0 interrupts for entire communication

Sync1 DC Distributed Clock

0x204

3

R/W

R/O

Activation of distributed clock (DC) sync 1 interrupts for entire communication

SyncManager activation register change

0x204

4

R/W

R/O

Activation of ‘SyncManager activation register change’ IRQ.

EEPROM emulation event

0x204

5

R/W

R/O

Activation of the EEPROM emulation interrupts.

-

0x204

3 to 7

R/W

R/O

Reserved

Sync Manager 0 Event
(Mail Out Event)

0x205

0

R/W

R/O

Activation of output event mailbox (SDO, Sync Manager 0) for object channel.

Sync Manager 1 Event
(Mail In Event)

0x205

1

R/W

R/O

Activation of input event mailbox (SDO, Sync Manager 1) for object channel.

Sync Manager 2 Event
(Pro Out Event)

0x205

2

R/W

R/O

Activation of output event process data (PDO, card's cyclical setpoints)

Sync Manager 3 Event
(Pro In Event)

0x205

3

R/W

R/O

Activation of input event process data (PDO, drive's cyclical actual values)

-

0x205

4 to 7

R/W

R/O

Reserved

 

AL Event Request (Address 0x0220:0x0221)

When the relevant bit of the AL event request register is set to 1, the EtherCAT interface tells the drive which event it should process by the AKDMKD.

Parameter Address

Bit

ZA Drive

ZA ECAT

 Description

AL Control Event

0x220

0

R/O

R/W

Processing of AL control event for phase run-up

Sync0 Distributed Clock (DC) Event

0x220

2

R/O

R/W

Processing of a distributed clock (DC) event

Sync1 Distributed Clock (DC) Event

0x220

3

R/O

R/W

Processing of a distributed clock (DC) event

SyncManager activation register change

0x220

4

R/O

R/W

The content of the SyncManager activation register has been changed.

EEPROM emulation event

0x220

5

R/O

R/W

Processing of an EEPROM emulation event in order to identify the AKDMKD within the network.

-

0x220

6 to 7

R/O

R/W

Reserved

Sync Manager 0 Event

0x221

0

R/O

R/W

Mailbox request (SDO, Sync Manager 0) for object channel.

Sync Manager 1 Event

0x221

1

R/O

R/W

Mailbox response (SDO, Sync Manager 1) for object channel.

Sync Manager 2 Event

0x201

2

R/O

R/W

Process data output (PDO, card's cyclical setpoints)

Sync Manager 3 Event

0x201

3

R/O

R/W

Process data input (PDO, drive's cyclical actual values)

Sync Manager 4 –

 

 

 

 

 

Sync Manager 7 Event

0x221

4 to 7

R/O

R/W

Reserved

Sync Manager 8 –

 

 

 

 

 

Sync Manager 15 Event

0x222

0 to 7

R/O

R/W

Reserved