Settings via the CoE directory

Note

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE - Online tab (with a double click on the respective object) or via the Process Data tab (assignment of PDOs). A detailed description can be found in the EtherCAT System-Documentation in chapter “EtherCAT subscriber configuration”

Please note the general CoE notes in the EtherCAT System Documentation in chapter “CoE-interface” when using/manipulating the CoE parameters:
- Keep a startup list if components have to be replaced
- Differentiation between online/offline dictionary,
- existence of current XML description
- use "CoE reload" for resetting changes

All settings are made via the CoE directory.

Settings via the CoE directory 2: — CoE directory of the EJ5021 EtherCAT plug-in module

If the module is online, i.e. connected to the TwinCAT EtherCAT master and in error-free RUN state (WorkingCounter = 0), the online data are accessible (A).
The entries can be changed online in the entries Index 0x8000 (B) and Index 0x8001 (C).

Frequency and amplitude errors are counted and can be read at index 0xA000 - the display is updated continuously in TwinCAT if (D1) has been enabled.

Latch and/or Reset can be activated on the C-signal in the CoE. It is not recommended to activate both functions at the same time.

Latch C input ("C")
Activate and store ("latch") the counter value

1. Enable the latch C input via the process data "Enable latch C" (Index 0x7000:01) = TRUE

At the first external latch pulse (positive edge at input "C") after set bit (TRUE) in index 0x7000:01 the count value is stored in "Latch value" (index 0x6000:12).
The following pulses at the other inputs have no influence on the latch value in index 0x6000:12 if the bit is set.

	"Latch C valid" bit A new counter value at the latch input can only be written once the value of the "Latch C valid" bit (index 0x6000:01) is FALSE.

Counter reset

The bit in index 0x8000:01 "Enable C reset" = TRUE must be set for the counter reset via input C.

Reversal of direction of rotation

The bit in index 0x8000:0E "Reversion of Rotation" must be set for a reversal of the direction of rotation.

TxPDO State

Index 0x6000:0F "TxPDO State", TRUE if frequency, amplitude or general error

TxPDO Toggle

Index 0x6000:10 "TxPDOToggle", toggles with each new value.