Tab 'EtherCAT Slave - Startup Parameters'

Object: EtherCAT Slave

The SDOs (Service Data Objects) or IDNs that transmit specified parameters to the device at the system start are defined for the current slave in this tab.

The object directory with the required data objects is described in the EtherCAT-ML description file or in an EDS file which is referenced in the XML file.

Requirement: The device supports CAN over EtherCAT or Servodrive over EtherCAT.

Note

Some modules that are inserted below a slave have their own start parameters. These parameters are then also shown in this list but cannot be edited here. The parameters are changed in the editor of the corresponding module.

SDO table
List of the SDOs or IDNs The order (from top to bottom) in the SDO table specifies the order in which the SDOs are transferred to the module.
Line	Line number
Idn
Bit Length	Bit length of the SDO
Abort on Error	: The transfer is interrupted in the case of an error with error status.
Jump to Line on Error	: In case of error the transfer is resumed with the SDO at the specified Line.
Next Line	: The transfer is resumed with the SDO at the next line.
Comment	Input field for comment
Move Up	Moves the selected line upwards by one line
Move Down	Moves the selected line downwards by one line
Add	Opens the dialog Select an entry from the object directory. In this dialog you can change the parameters of the SDO before the SDO is added to the configuration. By specifying new index/subindex entries, a new object can be added to the SDO that is not yet described in the EDS file. This is useful if only an incomplete object directory or none at all is present.
Delete	Removes the selected entry.
Change	Opens the dialog Select Item from Object Directory in order to change the parameters of the selected SDOs or IDNs in the table

Servodrive over EtherCAT
CAN over EtherCAT

Servodrive over EtherCAT

Select Item from Object Directory
List of the available object directory entries as defined in the XML file.
Column Idn
Column Base value	Basic value of the IDN, Editable, (open with double click)
Input fields
IDN	S P
PSet	By specifying new PSeT/Offset entries, a new object can be added to the IDN that is not yet described in the XML file. This is useful if only an incomplete object directory or none at all is present.
Offset	By specifying new PSet/Offset entries, a new object can be added to the IDN that is not yet described in the XML file. This is useful if only an incomplete object directory or none at all is present.
Bit length	Drop-down list for the selection of the bit length
Value	Drop-down list for the selection of the value
Channel	This drop-down list is automatically displayed if the object has several sub-objects.
As list	Parameters are loaded as a list. The first four bytes indicate the length. : The length is calculated automatically.

CAN over EtherCAT

Select an Entry from the Object Directory
List of the available object directory entries as defined in the EDS file.
Column Flags	Display of access flags: RW (read/write), RO (read only), WO (write only)
Column Base value	Editable (open with double click)
Input fields
Name	Input field for displaying and changing the name
Index: 16#	By specifying new index/subindex entries, a new object can be added to the SDO that is not yet described in the EDS file.
Subindex: 16#
Bit length	Value range of the object
Value	The size of each value can be maximum one byte (0-255). It can also be a hexadecimal in IEC syntax (for example, 16#ad). If the Byte array option is enabled, then the values have to be specified as a comma-separated list (for example, 1,2,3,4).
Full access	The complete object is written with one access and all subindexes are set at the same time. The time needed for the transfer is reduced because not every subindex has to be transferred individually.
Byte array	Values can be specified as a comma-separated byte array.