Device Configuration Panel

With Motorcortex-ECAT you can configure your EtherCAT Devices

5 minute read

Device Configuration Panel

In the middle of the Motorcortex-ECAT screen you will find the Device Configuration Panel. With this panel you can configure your devices. A device has multiple tabs:

Tab Description
rxPDO A Proces Data Object (PDO) present the Inputs and Outputs of a node device to the EtherCAT master and are updated every cycle. RxPDO’s are received by a node and are used maily to control device Outputs.
txPDO A Proces Data Object (PDO) present the Inputs and Outputs of a node device to the EtherCAT master and are updated every cycle. RxPDO’s are transmitted by a node and are used maily to read device Inputs.
rxSDO A Service Data Object (SDO) present device parameters and are only updated via the ethercat mailbox request. RxSDO’s are received by the node device and are used for writable parameters.
txSDO A Service Data Object (SDO) present device parameters and are only updated via the ethercat mailbox request. TxSDO’s are send by the node device and are used for readable parameters.
Distributed Clock .
Info .
Startup .

rxPDO

In the rxPDO tab you can configure the rxPDO’s from your device.

Field Description
Here you fill in the PDO index defined by the device manufacturer.
Here you can define the group of this PDO within the device in the parametertree.
This is where you can change the name of the PDO .
With this checkbox you can choose to include/exclude this PDO from the EtherCAT message.
With this button you can choose to make this PDO visible in the parameter tree.
Pressing this button will show a dropdown with more options.
The Add Link button will ad a link for this PDO.
The Add PDO will add a new PDO for this device.
The Add Entry button will ad a Entry for this device.
With the delete button you will delete this PDO.

txPDO

In the txPDO tab you can configure the txPDO’s from your device.

Field Description
Here you fill in the PDO index defined by the device manufacturer.
Here you can define the group of this PDO within the device in the parametertree.
This is where you can change the name of the PDO .
With this checkbox you can choose to include/exclude this PDO from the EtherCAT message.
With this button you can choose to make this PDO visible in the parameter tree.
Pressing this button will show a dropdown with more options.
The Add Link button will ad a link for this PDO.
The Add PDO will add a new PDO for this device.
The Add Entry button will ad a Entry for this device.
With the delete button you will delete this PDO.

rxSDO

In the rxSDO tab you can configure the rxSDO’s from your device.

Field Description
Here you define the SDO type, this can either be CoE (CANopen over EtherCAT) or SoE (Servo drive over Ethercat).
Here you can define the group of this SDO within the device in the parametertree.
This is where you can change the name of the SDO .
Here you fill in the SDO entry index defined by the device manufacturer.
Here you can define the group of this SDO entry within the device in the parametertree.
Here you fill in the SDO entry index defined by the device manufacturer.
The data type of a SDO entry can be defined here this can be: Not set, Bit, Bool, Int, Uint, Float, Double.
The data lengt of a SDO entry can be defined here.
This is where you can change the name of the SDO entry.
Pressing this button will show a dropdown with more options.
The Add SDO will add a new SDO for this device.
The Add Entry button will ad a Entry for this device.
With the delete button you will delete this SDO.

txSDO

In the rxSDO tab you can configure the rxSDO’s from your device.

Field Description
Here you define the SDO type, this can either be CoE (CANopen over EtherCAT) or SoE (Servo drive over Ethercat).
Here you can define the group of this SDO within the device in the parametertree.
This is where you can change the name of the SDO .
Here you fill in the SDO entry index defined by the device manufacturer.
Here you can define the group of this SDO entry within the device in the parametertree.
Here you fill in the SDO entry index defined by the device manufacturer.
The data type of a SDO entry can be defined here this can be: Not set, Bit, Bool, Int, Uint, Float, Double.
The data lengt of a SDO entry can be defined here.
This is where you can change the name of the SDO entry.
Pressing this button will show a dropdown with more options.
The Add SDO will add a new SDO for this device.
The Add Entry button will ad a Entry for this device.
With the delete button you will delete this SDO.

Distributed Clock

In the Distributed Clock tab you can configure the distributed clock for your device.

Field Description
With this button you will enable Distributed clock synchronization mode for this application.
In the assign active field you fill in the HEX number defined in the ESI file of the Device. It tels this specific device to activate the the distributed clock.
Here you fill in the time between Sync0 events in nano seconds.
Here you fill in the shift time between Sync0 events in nano seconds.
Here you fill in the time between Sync1 events in nano seconds.
Here you fill in the shift time between Sync1 events in nano seconds.

Info

In the info tab the device information is displayed.

Startup

COE Configuration

Field Description
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Pressing this button will show a dropdown with more options.
The Add Entry button will ad a Entry for this device.
With the delete button you will delete this SDO.

SOE Configuration

Field Description
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Pressing this button will show a dropdown with more options.
The Add Entry button will ad a Entry for this device.
With the delete button you will delete this SDO.
Last modified April 2, 2021: Update ECAT (75923ad)