Recommended diagnostics in the controller/PLC

For this high performance terminal it is particularly important that it is supplied with current output data or can deliver its input data in every EtherCAT cycle. Therefore it is recommended to check the following PDO continuously (in each real-time cycle) after TwinCAT has been started in RUN to ensure proper operation:

• Device
• State
• WcState
• InputToggle
• Channel
• Powerfail
• Warning
• TxPDO State
• Input cycle Counter
• Related to the inputs:
• CycleCount:
• Related to the outputs: see "Explanation of CycleCounter monitoring"

For the respective meaning/setpoints, see the explanations of the PDOs in the previous chapter Interpretation of the process data (PDO).

In the event of a problem, suitable settings may need to be adjusted, e.g. PLC real-time load, DC ShiftTime, oversampling factor.