EtherCAT Communication
Integration of ESI Files
EPOS4 Communication Guide
4-44 CCMC | 2019-11 | rel8759
Table 4-18 EtherCAT communication – ESM control register
4.3 Integration of ESI Files
SDOs are used to access the object dictionary. The corresponding interface is CoE. The EPOS4 is
described with an XML file bearing the so-called ESI (EtherCAT Slave Information).
For in-detail description and examples on integration into the EtherCAT master environment separate
document «EPOS4 Application Notes», chapter “EtherCAT Integration”.
4.4 Error Code Definition
For in detail information on error codes, device-specific errors, and error handling methodology separate
document «EPOS4 Firmware Specification», chapter “Error Handling”.
Parameter Address Bit Description
Control 0x0120 3…0
0x01: Init Request
0x02: Pre-Operational Request
0x03: Bootstrap Mode Request
0x04: Safe-Operational Request
0x08: Operational Request
Error Acknowledge 0x0120 4
0x00: No error acknowledgment
0x01: Error acknowledgment at rising edge
Reserved 0x0120 7…5 —
Application-specific 0x0120 15…8 —
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