rxSDO

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

Add rxSDO Example:

Name: Index:Sub: Type: Bit Size:
Position loop Kp 0x2012:01 Float 32
Store all parameters 0x1010:01 UInt 32

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

  2. 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.

  3. 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.

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

  5. 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.

  6. 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.

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