Tab: EtherCAT Slave – Start Parameters

On the tab, the SDOs (service data objects) for 'CAN over EtherCAT' (CoE) or the IDNs (identification numbers) for 'Servodrive over EtherCAT' (SoE) are defined for the current slave. These parameters are determined for the device when the system is started.

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'.

Some modules that are inserted below a slave have their own startup parameters. These parameters are also displayed in this list but cannot be edited here. The parameters are modified in the editor of the corresponding module.

List of SDOs or IDNs The order (from top to bottom) specifies the order in which the objects are transferred to the module.
Line	Line number
Index:Subindex	For CoE only
IDN	For SoE only Identification number
Name
Bit length	Bit length of the SDO or IDN
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 or IDN at the specified Line.
Next Line	: The transfer is resumed with the SDO or IDN 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 adding SDOs or IDNs.
Delete	Removes the selected entry.
Modify	Opens the Select Item from Object Directory dialog for changing the parameters of the selected SDO or IDN

Dialog: Select Item from Object Directory

The dialog lists all available object directory entries as defined in the XML file. The parameters of the objects can be modified in this dialog. New objects can also be created. This is useful when none or only an incomplete object directory exists.

Table 30. CAN over EtherCAT

List of available object directory entries as defined in the EDS file.
Column Index:Subindex	Identifies the entry in the object directory
Column Name
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.

Table 31. Servodrive over EtherCAT

List of available object directory entries as defined in the XML file.
Column IDN	Identification number
Column Base Value	Base value of the IDN. Double-click to modify.
Input fields
IDN	Identification number: Composed from the subsequent parameters S: Standard data P: Product-specific data PSet: Parameter set Offset
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.