Device Configuration Panel

rxPDOs are used to transfer data cyclically between the EtherCAT master and the EtherCAT slave. Typical examples of data mapped to rxPDOs are entries such as target positions, velocities, and control words.

You can create mapping in two methods, either manually starting with an empty mapping, or from an ESI-file.

Add New PDO mapping:

You can add manually a PDO mapping with custom entries. Be aware, when creating a custom mapping, that your slave also needs to supports this. It is highly recommended to use and ESI-file instead of manual mapping.

1. Add a new rxPDO by pressing the Add PDO button. This adds a new PDO mapping input field.

2. At 0000, you need to define the Object Id in hex. (Example: 1600)

3. At Group, define the Group Name for this PDO mapping. All entries inside this PDO are stored in this group and are visible via the desk-tool.

4. At Name, define a Name (Example: .data). This name will be displayed in the parameter tree (desk-tool). The .data object will contain all information of the PDO mapping, and can be copied to another PDO mapping via linking.

5. Define the syncmanager used for this PDO mapping.

6. Use the Include in EtherCAT message checkbox to include or exclude the PDO from the EtherCAT message. Excluded PDOs are not configured inside the EtherCAT device.

7. Use the Show in data tree button to choose whether to hide or show this PDO inside the parameter tree (desk-tool).

8. Press the More Actions button to open a dropdown list:

   • With the button you can add a link .data object from one PDO mapping to another. Be aware that the the size of the copied data should be the same as the PDO mapping size.

   • With the Delete button, you can delete an entry from the list.

Add New Entry:

Example:

10. At - 0000:00, you need to define the Object Index and Subindex. (Example: 6040:00)

11. At Group, define the Group Name for this entry mapping. All entries with the same group name are stored in the same group and are visible via the desk-tool.

12. At Name, define a Name (Example: Control Word). This name will be displayed in the parameter tree (desk-tool).

13. Define the data size and type (Example: UINT16). If a data type is not filled in, the input field appears red.

14. Use the Include in EtherCAT message checkbox to include or exclude the entry from the EtherCAT message. Excluded entries are not configured inside the EtherCAT device.

15. Use the Show in data tree button to choose whether to hide or show this entry inside the parameter tree (desk-tool).

16. Press the More Actions button to open a dropdown list:

    • With the button you can add a link (Motorcortex parameter) to the mapped entry. Information from this link is copied to this entry mapping.

    • With the Add Mapping button you can subdivide the entry into bits; the mapping is displayed as a decimal number.

    • With the Delete button, you can delete an entry from the list.

txPDOs are used to transfer data cyclically between EtherCAT master and the EtherCAT slave. Typical examples of data mapped to txPDOs are entries such as actual positions, velocities, and status words.

You can create mapping in two methods, either manually starting with an empty mapping, or from an ESI-file.

Add New PDO mapping:

You can add manually a PDO mapping with custom entries. Be aware, when creating a custom mapping, that your slave also needs to supports this. It is highly recommended to use and ESI-file instead of manual mapping.

1. Add a new txPDO by pressing the Add PDO button. This adds a new PDO mapping input field.

2. At 0000, you need to define the Object Id in hex. (Example: 1A00)

3. At Group, define the Group Name for this PDO mapping. All entries inside this PDO are stored in this group and are visible via the desk-tool.

4. At Name, define a Name (Example: .data). This name will be displayed in the parameter tree (desk-tool). The .data object will contain all information of the PDO mapping, and can be copied to another PDO mapping via linking.

5. Define the syncmanager used for this PDO mapping.

6. Use the Include in EtherCAT message checkbox to include or exclude the PDO from the EtherCAT message. Excluded PDOs are not configured inside the EtherCAT device.

7. Use the Show in data tree button to choose whether to hide or show this PDO inside the parameter tree (desk-tool).

8. Press the More Actions button to open a dropdown list:

   • With the button you can add a link .data object from one PDO mapping to another. Be aware that the the size of the copied data should be the same as the PDO mapping size.

   • With the Delete button, you can delete an entry from the list.

Add New Entry:

Example:

10. At - 0000:00, you need to define the Object Index and Subindex. (Example: 6041:00)

11. At Group, define the Group Name for this entry mapping. All entries with the same group name are stored in the same group and are visible via the desk-tool.

12. At Name, define a Name (Example: Status Word). This name will be displayed in the parameter tree (desk-tool).

13. Define the data size and type (Example: UINT16). If a data type is not filled in, the input field appears red.

14. Use the Include in EtherCAT message checkbox to include or exclude the entry from the EtherCAT message. Excluded entries are not configured inside the EtherCAT device.

15. Use the Show in data tree button to choose whether to hide or show this entry inside the parameter tree (desk-tool).

16. Press the More Actions button to open a dropdown list:

    • With the button you can add a link (Motorcortex parameter) to the mapped entry. Information from this link is copied to this entry mapping.

    • With the Add Mapping button you can subdivide the entry into bits; the mapping is displayed as a decimal number.

    • With the Delete button, you can delete an entry from the list.

rxSDOs are used to transfer data on request between the EtherCAT master and EtherCAT slave.

Add New SDO mapping:

1. Pressing the Add SDO button, adds a new SDO mapping input field which can be configured.

2. At Type, define the EtherCAT protocols either CoE (CAN over EtherCAT) or SoE (Sercos over EtherCAT)

Add rxSDO Example:

3. At - 0000:00, you need to define the Object Index and Subindex in hex. (Example: 2012:01)

4. At Group, define the Group Name for this SDO mapping. All entries inside this SDO are stored in this group and are visible via the desk-tool.

5. At Name, define a Name to the entry (Example: Position loop Kp). This name will be displayed in the parameter tree (desk-tool). It is also possible to add a name to the SDO, this will display the overall SDO data.

6. Define the data size and type (Example: Float 32). If a data type is not filled in, the input field appears red.

7. Use the Include in EtherCAT message checkbox to include or exclude the SDO from the EtherCAT message. Excluded SDOs are not configured inside the EtherCAT device.

8. Press the More Actions button to open a dropdown list:

   • With the button you can add a link to the SDO entry.

   • With the Delete button, you can delete an SDO entry from the list.

9. Pressing the Add Entry button, adds a new entry to the SDO.

txSDOs are used to transfer data on request between the EtherCAT master and EtherCAT slave.

Add New SDO mapping:

1. Pressing the Add SDO button, adds a new SDO mapping input field which can be configured.

2. At Type, define the EtherCAT protocols either CoE (CAN over EtherCAT) or SoE (Sercos over EtherCAT)

Add txSDO Example:

3. At - 0000:00, you need to define the Object Index and Subindex in hex. (Example: 603F:00)

4. At Group, define the Group Name for this SDO mapping. All entries inside this SDO are stored in this group and are visible via the desk-tool.

5. At Name, define a Name to the entry (Example: Error Code). This name will be displayed in the parameter tree (desk-tool). It is also possible to add a name to the SDO, this will display the overall SDO data.

6. Define the data size and type (Example: UInt). If a data type is not filled in, the input field appears red.

7. Use the Include in EtherCAT message checkbox to include or exclude the SDO from the EtherCAT message. Excluded SDOs are not configured inside the EtherCAT device.

8. Press the More Actions button to open a dropdown list:

   • With the button you can add a link to the SDO entry.

   • With the Delete button, you can delete an SDO entry from the list.

9. Pressing the Add Entry button, adds a new entry to the SDO.

Distributed clock settings are used to synchronize all devices on the network to a unified system time.

1. Enables the DC clock for the device.

2. If an ESI file is applied, the Select from preset dropdown displays the available options. Select one of the available DC clock settings.

3. Enter the hex value of the preferred Assign Activate. Using Select from preset automatically applies the correct Assign Activate value based on the chosen preset.

4. For Mode, you can select either Cycle or User Defined.

5. Based on the selected Mode:

   • For Cycle, you need to define a Factor for Cycle Time Sync/Shift 0. If the factor is positive: Fieldbus Task Cycle Time * Factor. If the factor is negative: Fieldbus Task Cycle Time / Factor. For Cycle Time Shift 0, the default factor of -2 can be used.
   • For User Defined, you need to specify the Cycle Time Sync/Shift 0 value in nanoseconds [ns]. For example, if the field bus task is configured to 1 kHz:
     • cycle_time_sync0 [ns] = field bus task cycle time [ns] = 1,000,000 ns
     • cycle_time_shift0 [ns] = 50% of the field bus task cycle time [ns] = 500,000 ns

Related Information:

• How to configure the fieldbus_task cycle time.
• Invalid-dc-synch-configuration.

A startup list is loaded each time the device power cycles, it parametrizes your device with the set of configured parameters

1. In the main screen of the startup tab, you can add startup parameters for CoE, SoE and EoE. Either manually or via uploading a startup parameter list.

2. Pressing the Upload button, opens a tab in which you can upload a startup.xml parameter file for example:

• CoE.xml
• SoE.xml
• EoE.xml
• CoE+EoE.xml

<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox>
    <CoE>
<!-- Input Type Analog Input 01-->    
        <InitCmds>
            <InitCmd>
                <Transition>PS</Transition>
                <Comment><![CDATA[Input Type]]></Comment>
                <Timeout>0</Timeout>
                <Ccs>1</Ccs>
                <Index>63488</Index>
                <SubIndex>01</SubIndex>
                <Data>0000</Data> <!-- -10..+10V -->
                <!--<Data>0100</Data> --> <!-- 0..+20mA -->
                <!--<Data>0200</Data> --> <!-- 4..+20mA -->
                <!--<Data>0300</Data> --> <!-- 0..+10V -->
            </InitCmd>
        </InitCmds>
    </CoE>
</EtherCATMailbox>

<?xml version="1.0" encoding="utf-8"?>
<EtherCATMailbox>
  <SoE>
    <InitCmds>
      <InitCmd>
        <Transition>PS</Transition>
        <Comment><![CDATA[Telegram type]]></Comment>
        <Timeout>0</Timeout>
        <OpCode>3</OpCode>
        <DriveNo>0</DriveNo>
        <IDN>15</IDN>
        <Elements>64</Elements>
        <Attribute>0</Attribute>
        <Data>0700</Data>
      </InitCmd>
    </InitCmds>
  </SoE>
</EtherCATMailbox>

<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox>
  <EoE>
    <InitCmds>
      <InitCmd Fixed="true">
        <Transition>IP</Transition>
        <Transition>PS</Transition>
        <Comment><![CDATA[eoe init]]></Comment>
        <Timeout>0</Timeout>
        <Data>020000000f0000000201051003e97b02000a00ffffff0102000a000000000000000000000000000000000000000000000000000000000000000000000000</Data>
        <!-- 02000000 --> <!-- Header[4] -->
        <!-- 0f000000 --> <!-- Flags[4] -->
        <!-- 0201051003e9 --> <!-- MAC Address[6] is 02:01:05:10:03:e9 -->
        <!-- 7b02000a --> <!-- Ip Address[4] is 10.0.2.123 -->
        <!-- 00ffffff --> <!-- Subent Mark[4] is 255.255.255.0  -->
        <!-- 0102000a --> <!-- Gateway[4] is 10.0.2.1-->
        <!-- 00000000 --> <!-- Dns Server[4] -->
        <!-- 0000000000000000000000000000000000000000000000000000000000000000 --> <!-- Dns Name[32] -->
      </InitCmd>
    </InitCmds>
  </EoE>
</EtherCATMailbox>

<?xml version="1.0" encoding="ISO-8859-1"?>
<EtherCATMailbox>
    <CoE>
<!-- Input Type Analog Input 01-->    
        <InitCmds>
            <InitCmd>
                <Transition>PS</Transition>
                <Comment><![CDATA[Input Type]]></Comment>
                <Timeout>0</Timeout>
                <Ccs>1</Ccs>
                <Index>63488</Index>
                <SubIndex>01</SubIndex>
                <Data>0000</Data> <!-- -10..+10V -->
                <!--<Data>0100</Data> --> <!-- 0..+20mA -->
                <!--<Data>0200</Data> --> <!-- 4..+20mA -->
                <!--<Data>0300</Data> --> <!-- 0..+10V -->
            </InitCmd>
        </InitCmds>
    </CoE>
    <EoE>
        <InitCmds>
            <InitCmd Fixed="true">
                <Transition>IP</Transition>
                <Transition>PS</Transition>
                <Comment><![CDATA[eoe init]]></Comment>
                <Timeout>0</Timeout>
                <Data>020000000f0000000201051003e97b02000a00ffffff0102000a000000000000000000000000000000000000000000000000000000000000000000000000</Data>
                <!-- 02000000 --> <!-- Header[4] -->
                <!-- 0f000000 --> <!-- Flags[4] -->
                <!-- 0201051003e9 --> <!-- MAC Address[6] is 02:01:05:10:03:e9 -->
                <!-- 7b02000a --> <!-- Ip Address[4] is 10.0.2.123 -->
                <!-- 00ffffff --> <!-- Subent Mark[4] is 255.255.255.0  -->
                <!-- 0102000a --> <!-- Gateway[4] is 10.0.2.1-->
                <!-- 00000000 --> <!-- Dns Server[4] -->
                <!-- 0000000000000000000000000000000000000000000000000000000000000000 --> <!-- Dns Name[32] -->
            </InitCmd>
        </InitCmds>
    </EoE>
</EtherCATMailbox>

3. Pressing the Add Item, adds a manual configuration field.

Manual Configuration of CoE Startup Parameters

1. At - 0000:00, you need to define the Object Index and Subindex in hex (Example: F800:01).

2. At Comment, define a comment for example the name of the entry (Example: Input Type).

3. At Data, you need to configure the parameter used at startup.

4. You can enable Complete Access to transfer all sub-indices in one data packet to the EtherCAT slave.

5. With include in EtherCAT message, you can either include or exclude the configured entry from the startup list. For more option you can press :

   • The Add Item button, adds a new entry to the startup list.
   • The Delete button, removes the entry from the startup list.

Manual Configuration of SoE Startup Parameters

1. At Drive No., you need to define the drive number. For single-axis devices, the drive number is typically 0. For multi-axis drives, each axis or motor controller is addressed by its specific index (e.g., drive 0, drive 1, etc.)

2. At Transition, you define between which transition state the parameter is applied.

3. At Comment, define a comment for example the name of the entry.

4. At Data, you need to configure the parameter used at startup.

5. For IDN you fill in the IDN number: S-x-yyyy/P-x-yyyy.

   • "S" for Standard data, "P" for Product-specific data.
   • x parameter set usually from 0 to 7 and.
   • yyyy Data-block number usually from 0 to 4095.

6. With include in EtherCAT message, you can either include or exclude the configured entry from the startup list. For more option you can press :

   • The Add Item button, adds a new entry to the startup list.
   • The Delete button, removes the entry from the startup list.

Manual Configuration of EoE Startup Parameters

1. At Comment, define a comment for example the name of the entry (example: eoe init).

2. At Date:

   

3. With include in EtherCAT message, you can either include or exclude the configured entry from the startup list. For more option you can press :

   • The Add Item button, adds a new entry to the startup list.
   • The Delete button, removes the entry from the startup list.

   Pressing on , opens a visual editor, to configure EoE.

   

4. Fill in the device MAC address.

5. Use to enable or disable DHCP.

6. Use to include or exclude timestamp to EoE package data.

7. Fill in the device IP Address.

8. Fill in the Subnet Mask.

9. Fill in the Gateway.

10. Fill in the DNS Server Address.

11. Fill in the DNS Name.

In the Process Data tab you can add, remove and enable Syncmanagers.