Tab: EtherCAT Slave – Expert Mode Process Data

The tab provides another more detailed view of the process data, which is also displayed in the “Process Data” dialog. Moreover, the download of the PDO assignment and the PDO configuration is enabled here.

Requirement: The expert settings for the slave are selected.

Table 437: Sync Manager
List of the Sync Managers with data size and PDO type

Table 438: PDO assignment (16#1C12)
List of the PDOs assigned to the selected “Sync-Manager”.
When a check box is selected, the PDOs are enabled and I/O channels are created. This is similar to the simple PDO configuration view.

Table 439: PDO list
List of the PDOs assigned to the selected “Sync-Manager”.
You can add new entries or edit or delete existing entries by executing the respective commands (“Add”, “Delete”, “Edit”) in the command bar or context menu.

Table 440: Edit PDO list
“Name”
“Index”
“Direction”	“TxPDO (input)”: : The PDO is transmitted from the master to the slave. “RxPDO (output)”: : The PDO is transmitted from the slave to the master.
“Flags”	“Required”: The PDO is required and cannot be disabled in the “PDO assignment”. “Windows contents”: The contents of the PDO are fixed and cannot be modified. It is then not possible to add entries in “PDO contents”. “Virtual PDO”: Reserved for future use
“Exclude PDOs”	It is possible to define an exclusion list. When a PDO is enabled in the “PDO assignment”, others are disabled and cannot be enabled.
“Sync unit”	ID of the Sync Manager to which the PDO is to be assigned

Table 441: PDO Contents
Displays the contents of the PDOs selected in the “PDO list”. You can add new entries or edit or delete existing entries by executing the respective commands (“Add”, “Delete”, “Edit”) in the command bar or context menu. You can change the PDO order by clicking “Move Up” and “Move Down”.

Table 442: Download
“PDO assignment”	: Specific CoE commands for initializing the `‎0x1cxx‎` objects are generated and written to the slave.
“PDO configuration”	: The CoE commands for `‎0x16xx‎` or `‎0x1axx‎` are generated, and then the PDO mapping is downloaded to the slave. Normally, the default values originate from the ESI file and the device has to support this functionality. For example, if a device has a fixed configuration, then these commands are regarded as flawed.
“Load PDO info from the device”	The current PDO configuration is read from the slave and entered into the configuration. The lists in the upper and lower right are then deleted and filled with the read data. This is especially useful when the ESI file is incomplete and the configuration is available only on the slave.