Tab: EtherCAT Module – Startup Parameters

The SDOs (Service Data Objects) or IDNs that transmit specified parameters to the device at the system start are defined on this tab for the current module.

The object directory with the required data objects is described in the EtherCAT XML description file or in an EDS file that is referenced in the XML file.

Requirement: The device supports CAN over EtherCAT or Servodrive over EtherCAT.

Tip

Some modules have their own start parameters which are displayed on the tab. The parameters can be modified there. Likewise, the parameters are also displayed in the slave, but they are blocked there.

Table 38. SDO table

List of SDOs or IDNs The order (from top to bottom) in the SDO table specifies the order in which the SDOs are transferred to the module.
Line	Line number
Idn
Bit length	Bit length of the SDO
Abort on Error	: In case of error, the transfer is aborted with an error status.
Jump to Line on Error	In case of error, the transfer is resumed with the SDO at the specified Line.
Next Line	: The transfer is resumed with the SDO at the next line.
Comment	Input field for comments
Move Up	Moves the selected line upwards by one line
Move Down	Moves the selected line downwards by one line
Add	Opens the Select Item from Object Directory dialog. In this dialog you can change the parameters of the SDO before the SDO is added to the configuration. By specifying new index/subindex entries, a new object can be added to the SDO that is not yet described in the EDS file. This is useful if only an incomplete object directory or none at all exists.
Delete	Removes the selected entry.
Modify	Opens the Select Item from Object Directory dialog for changing the parameters of the selected SDO or IDN in the table

Servodrive over EtherCAT

Table 39. Select Item from Object Directory

List of available object directory entries as defined in the XML file.
Column Idn
Column Base Value	Base value of the IDN. Editable (double-click to open)
Input fields
IDN	S P
PSet	By specifying new PSeT/Offset entries, a new object can be added to the IDN that is not yet described in the XML file. This is useful if only an incomplete object directory or none at all exists.
Offset	By specifying new PSet/Offset-entries, a new object can be added to the IDN that is not yet described in the XML file. This is useful if only an incomplete object directory or none at all exists.
Bit length	List box for selecting the bit length
Value	List box for selecting the value
Channel	If the object has multiple subobjects, then this list box is displayed automatically.
As list	Parameters are loaded as a list. The first four bytes indicate the length. : The length is calculated automatically.

CAN over EtherCAT

Table 40. Select Item from Object Directory

List of available object directory entries as defined in the EDS file.
Column Flags	Display of access flags: RW (read/write), RO (read only), WO (write only)
Column Base Value	Editable (double-click to open)
Input fields
Name	Input field for displaying and changing the name
Index: 16#	By specifying new index/subindex entries, a new object can be added to the SDO that is not yet described in the EDS file.
Subindex: 16#
Bit length	Value range of the object
Value	Each value may be max. one byte (0-255). It can also be a hexadecimal in IEC syntax (for example, 16#ad). If the Byte array option is enabled, then the values have to be specified as a comma-separated list (for example, 1,2,3,4).
Full access	The complete object is written with one access and all subindexes are set at the same time. The time needed for the transfer is reduced because not every subindex has to be transferred individually.
Byte array	: Values can be specified as a comma-separated byte array.