Tab 'EtherCAT Slave - Startup Parameters'

Object: EtherCAT Slave

On the tab, the SDOs (service data objects) for 'CAN over EtherCAT' (CoE) or the IDNs (identification numbers) for 'Servodrive over EtherCAT' (SoE) are defined for the current slave. These parameters are determined for the device when the system is started.

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 that are inserted below a slave have their own startup parameters. These parameters are also displayed in this list but cannot be edited here. The parameters are modified in the editor of the corresponding module.

List of SDOs or IDNs The order (from top to bottom) specifies the order in which the objects are transferred to the module.
“Line”	Line number
“Index:Subindex”	For CoE only
“IDN”	For SoE only Identification number
Name
“Bit length”	Bit length of the SDO or IDN
“Abort on Error”	: In case of error, the transfer is aborted with an error status.
“Jump to Line on Error”	: In case of error, the transfer is resumed with the SDO or IDN at the specified “Line”.
“Next Line”	: The transfer is resumed with the SDO or IDN 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 adding SDOs or IDNs.
“Delete”	Removes the selected entry.
“Modify”	Opens the “Select Item from Object Directory” dialog for changing the parameters of the selected SDO or IDN

Dialog 'Select Item from Object Directory'

The dialog lists all available object directory entries as defined in the XML file. The parameters of the objects can be modified in this dialog. New objects can also be created. This is useful when none or only an incomplete object directory exists.

Table 361: “CAN over EtherCAT ”
List of available object directory entries as defined in the EDS file.
Column “Index:Subindex”	Identifies the entry in the object directory
Column “Name”
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.

Table 362: Servodrive over EtherCAT
List of available object directory entries as defined in the XML file.
Column “IDN”	Identification number
Column “Base Value”	Base value of the IDN. Double-click to modify.
Input fields
“IDN”	Identification number: Composed from the subsequent parameters “S”: Standard data “P”: Product-specific data “PSet”: Parameter set “Offset”
“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.