Tab: EtherCAT Slave – General

Tab: EtherCAT Slave – General

The basic settings for the EtherCAT Slave are configured on this tab. The basic settings are preset from the device description file.

Table 422: Address
Fields can be edited only when the “auto-configuration mode”of the EtherCAT Master is disabled.
“AutoInc address”	Self-incrementing address (16-bit) that results from the position of the slave in the network. The address is used only during the system boot when the master assigns the EtherCAT addresses to its slaves. When the first message runs through all the slaves for this purpose, each slave increments its “AutoInc address” by 1. The slave with address 0 then gets the data. A possible input here is "-8".
“EtherCAT address”	Final address of the slaves, assigned by the master during bootup. The address is independent of the position of the slave in the network.

Table 423: Additional
“Expert settings”	: : Additional settings are possible for the startup checking and time monitoring (see below). The “Expert Process Data” tab is also available in the device editor. However, expert settings are not required for standard applications. The auto-configuration mode is recommended and sufficient for standard applications.
“Optional”	At the start of the stack, the system checks whether optional devices are available. : The slave is defined as optional and no error message is generated if the device is missing from the bus system. If a device is not found, then it is disabled automatically and displayed in gray in the device tree. A corresponding message is displayed in the logger. Note: If you define a slave as "optional", then it has to have a unique identification. You can change this by means of the three possible settings in the “Identification” section. Available only when the “Autoconfig master/slaves” option is selected in the settings of the EtherCAT Master and the EtherCAT Slave supports this function.

Table 424: Distributed Clock
“Select DC”	List box with all settings for the distributed clocks of the device description file
“Activate”	: Cycle time for the data exchange. It is displayed in the “Sync unit cycle (µs)” input field and determined by the cycle time of the master. As a result, the master clock can synchronize the data exchange in the network.

The “Sync0” and “Sync1” settings described below are slave-dependent:

Table 425: Sync0
“Enable Sync 0”	: Synchronization unit “Sync0” is used. A synchronization unit describes a set of process data that is exchanged synchronously.
“Sync unit cycle”	: The master cycle time (multiplied by the factor selected from the list box) is used as the synchronization cycle time for the slave. “Cycle time (µs)” displays the cycle time currently set.
“User-defined”	: A custom cycle time (in microseconds) can be specified in the “Cycle time (µs)” field.

Table 426: Sync1
“Enable Sync 1”	: Synchronization unit “Sync1” is used. A synchronization unit describes a set of process data that is exchanged synchronously.
“Sync unit cycle”	: The master cycle time (multiplied by the factor selected from the list box) is used as the synchronization cycle time for the slave. The “Cycle time (µs)” field displays the cycle time currently set.
“User-defined”	: A custom cycle time (in microseconds) can be specified in the “Cycle time (µs)” field.

Table 427: Diagnosis
This area is displayed only in online mode.
“Current State”	State of the slave Possible states: “Init”, “Preoperational”, “Safe Operational”, and “Operational” The state Operational indicates that the slave configuration has been correctly completed and that process data (inputs and outputs) are being accepted.

Table 428: Startup Checking
“Check vendor ID”	By default the vendor ID and product ID of the device are checked against the current configuration settings when the system boots up. If they do not agree, then the bus is stopped and no further actions are executed. This is done to prevent an incorrect configuration from being loaded onto the bus system. Options for deactivating the corresponding check.
“Check product ID”
“Check revision number”	: The revision number is checked during the system bootup according to your selection in the list box.
“Download expected slot configuration”	: For online verification of the configured and actual module configuration. If the configurations do not match, then the device still switches to "Run". In this case, an entry is made in the device logbook.

Table 429: Timeouts
By default, watchdog is not defined for the following actions. If necessary, an appropriate timeout can be specified here (in milliseconds):
“SDO access”	Transmits the SDO list at system start. Specified in milliseconds.
“I -> P”	Switch from “Init” mode to “Preoperational” mode. Specified in milliseconds.
“P -> S / S -> O”	Switch from “Preoperational” mode to “Safe Operational” mode, or from “Safe Operational” mode to “Operational” mode. Specified in milliseconds.

Table 430: DC Cyclic Unit Control: Assign to Local µC
One or more options for the “Distributed Clock” function can be activated here that should be used on the local microprocessor. The check is performed in the registry at 0x980 in the EtherCAT Slave. Possible settings:
“Cycle unit”
“Latch unit 0”
“Latch unit 1”

Table 431: Watchdog
“Set multiplier”	The PDI watchdog and SM watchdog receive their impulses from the local terminal clock divided by the watchdog multiplier.
“Set PDI watchdog”	This watchdog triggers when there is no PDI communication with the EtherCAT Slave Controller for longer than the PDI (Process Data Interface) watchdog time which has been set and activated.
“Set SM watchdog”	This watchdog triggers when there is no EtherCAT process data communication with the terminal for longer than the SM (SyncManager) watchdog time that has been set and activated.

Table 432: Identification
In this section, you set the device identification of the slave. As a result, you can make the address of the slave independent of its position in the bus. The following options are visible only when the “Activate expert settings” option or “Optional” option is selected. If you have identified the slave as “Optional”, then you have to assign a unique ID to it.
“Disabled”	The identification of the slave is not checked.
“Configured station alias (ADO 0x0012)”	Address that is stored in the EEPROM of the device. You can change the value in the “Scan Devices” dialog or in online mode. For stock devices, you need to assign this number one time. This means that you have to connect the device one time to an EtherCAT Master and save the number.
“Write to EEPROM”	Visible in online mode only for “Configured station alias”. Writes the defined address for “Value” to the EEPROM of the slave.
“Explicit device identification (ADO 0x0134)”	The device identification is hard set on the hardware (for example, by DIP switches). It is displayed in “Actual address”.
“Data Word (2 Bytes)”	A 2-byte value for the identification is saved in the slave.
“Value”	Expected value for the check. If the actual value does not correspond to this setting, then an error is issued.
“ADO (hex)”	Initial value from the device description. You can change this value in the “Data word” option.
“Actual address”	Visible in online mode only. Displays the address of the slave. You can use this display for checking the success of the “Write to EEPROM” command.