Interpretation of the process data (PDO)

The process data of the terminal can be assigned to four areas (device information, channel information, use as digital input, use as digital output):

Device information

Interpretation of the process data (PDO) 1:

WcState

Interpretation of the process data (PDO) 2:

"0": proper operation

"1" : the terminal has not exchanged any process data in this cycle

InputToggle

Interpretation of the process data (PDO) 3:

Changes cyclically 0/1/0/1...:
proper operation

Changes acyclically 0/1/1/0/... :
the terminal has not exchanged any process data in this cycle.

State

Interpretation of the process data (PDO) 4:

Bit 3 =TRUE: "0": proper operation

AdsAddr

AMS NetId and port number of the terminal, important for acyclic communication from the controller with the CoE and registers.

DcOutputShift

offset of the output terminals set by TwinCAT in [ns] to the current task tick.
TwinCAT generally displays this PDO, regardless of whether the device has input or output functions.
Note: the EL1262-0010 operates as output terminal in the sense of this setting.

DcInputShift

offset of the input terminals set by TwinCAT in [ns] to the current task tick.
TwinCAT generally displays this PDO, regardless of whether the device has input or output functions. Not relevant for the El1262-0010.

Channel information, each for channel 1 and 2

Interpretation of the process data (PDO) 5:

Ch CycleCount

Byte

iterating per cycle [0..255], can be used on the controller side to check that the terminal supplies new data in each EtherCAT cycle, expected value is therefore +1

Ch Out CycleCount error

Bool

Feedback channel of the corresponding output.

"0": no transmission error

"1": Output channel has detected count > +1

Powerfail

 

"0": proper operation

"1": internal error, contact Service

Warning

 

"0": proper operation

"1": internal warning, possibly overheating

TxPDO

 

"0": proper operation

"1": the EtherCAT data exchange with the channel has failed in this cycle

Input cycle Counter

Interpretation of the process data (PDO) 6:

 

iterating per cycle 0→1→2→3→0...: proper operation

 

not '+1'-iterating, e.g. 0→2→2→3→0…:
The EtherCAT frame has not exchanged data with the slave in time

Use as digital input

Interpretation of the process data (PDO) 7:

The process data are structured channel-oriented for control-side linking with a specific FB, therefore the DC timestamp is offered twice

StartTimeNextLatch

64-bit DC timestamp [ns] of the first sample of the next oversampling package

CycleCount

Interpretation of the process data (PDO) 8:

counts cyclically +1:
proper operation

cyclic change +0 or +2:
if necessary, the sync time of the terminal must be shifted into a jitter-free range by changing the ShiftTime, where the data transfer from/to the EtherCAT frame is safely possible

Input[n]

Bytewise input process data for control;
Process data size depending on the set oversampling

Use as digital output

Interpretation of the process data (PDO) 9:

The process data are structured channel-oriented for control-side linking with a specific FB, therefore the DC timestamp is offered twice

StartTimeNextOutput

64-bit DC timestamp [ns] of the first sample of the next oversampling package

CycleCount

Interpretation of the process data (PDO) 10:

8-bit counter that can be used cyclically by the controller with +1. In case of operation, both channel counters must be used!

See Explanation of CycleCounter monitoring

CycleCount Activate

activates the monitoring on '+1' of the CycleCount in the terminal.

See Explanation of CycleCounter monitoring

Output[n]

Byte-wise output process data from the controller; the process data size depends on the set oversampling