Tab 'EtherCAT Module - Startup Parameters'

Object: EtherCAT Module

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

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

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

Some modules have their own start parameters which are displayed on the tab. The parameters can be modified there. Likewise, the parameters are also displayed in the slave, but they are blocked there.

Table 369: SDO table
List of 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”	: In case of error, the transfer is aborted with an error status.
“Jump to Line on Error”	: The transfer is resumed with the SDO at the specified “Line” in case of error.
“Next Line”	: The transfer is resumed with the SDO at the next line.
“Comment”	Input field for comments
“Move Up”	Moves the selected line upwards by one line
“Move Down”	Moves the selected line downwards by one line
“Add”	Opens the “Select Item from Object Directory” dialog. 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 exists.
“Delete”	Removes the selected entry.
“Modify”	Opens the “Select Item from Object Directory” dialog for changing the parameters of the selected SDO or IDN in the table

Servodrive over EtherCAT

Table 370: “Select Item from Object Directory”
List of available object directory entries as defined in the XML file.
Column “Idn”
Column “Base Value”	Base value of the IDN. Editable (double-click to open)
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 exists.
“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 exists.
“Bit length”	List box for selecting the bit length
“Value”	List box for selecting the value
“Channel”	If the object has multiple subobjects, then this list box is displayed automatically.
“As list”	Parameters are loaded as a list. The first four bytes indicate the length. : The length is calculated automatically.

“CAN over EtherCAT ”

Table 371: “Select Item from Object Directory”
List of 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 (double-click to open)
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”	Range of values of the object
“Value”	Each value may be max. 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.