Startup

4 minute read

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

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

<?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>

Pressing the Add Item, adds a manual configuration field.

Manual Configuration of CoE Startup Parameters

At - 0000:00, you need to define the Object Index and Subindex in hex (Example: F800:01).
At Comment, define a comment for example the name of the entry (Example: Input Type).
At Data, you need to configure the parameter used at startup.
You can enable Complete Access to transfer all sub-indices in one data packet to the EtherCAT slave.
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

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.)
At Transition, you define between which transition state the parameter is applied.
At Comment, define a comment for example the name of the entry.
At Data, you need to configure the parameter used at startup.
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.
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

At Comment, define a comment for example the name of the entry (example: eoe init).
At Date:
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.
Fill in the device MAC address.
Use to enable or disable DHCP.
Use to include or exclude timestamp to EoE package data.
Fill in the device IP Address.
Fill in the Subnet Mask.
Fill in the Gateway.
Fill in the DNS Server Address.
Fill in the DNS Name.