Process data

The process data overview lists the detailed PDO selection. These data are not usually necessary for operation under TwinCAT, since they can be simply configured from the configuration interface via the process data preselection.

Preselection of process data

An EtherCAT device usually offers several different process data objects (PDO) for input and output data, which can be configured in the System Manager, i.e. they can be activated or deactivated for cyclic transmission. See further below for the corresponding overview. Attention is thereby to be paid to the compatibility of input and output PDO.

From TwinCAT 2.11 with the EtherCAT devices intended for the purpose according to the ESI/XML description, the process data for input and output can be activated simultaneously by appropriate predefined sentences, "predefined PDO".

In the "Process Data" tab, the EL2212 has

Process data 1:
"Process Data" tab

the following 'predefined PDO' sentences:

Process data 2:
TwinCAT System Manager with the PDO selection

In detail the sentences are composed as follows:

Operation mode

Name

SM2, PDO assignment

SM3, PDO assignment

SM-synchronous “frame-triggered”

Standard digital output

(default setting)

0x1600
0x1601

0x1A00
0x1A02

Standard digital output with InfoData

0x1600
0x1601

0x1A00
0x1A01
0x1A02
0x1A03

DistributedClocks-triggered

DC Digital output

0x1600
0x1601
0x1602

0x1A00
0x1A02
0x1A04

DC Digital output with InfoData

0x1600
0x1601
0x1602

0x1A00
0x1A01
0x1A02
0x1A03
0x1A04

Multi-Timestamping 2 Ch. 10x

0x1603
0x1604
0x1607
0x160B

0x1A05
0x1A06
0x1A07
0x1A08

Multi-Timestamping 2 Ch. 5x

0x1603
0x1604
0x1608
0x160C

0x1A05
0x1A06
0x1A07
0x1A08

Multi-Timestamping 2 Ch. 2x

0x1603
0x1604
0x1609
0x160D

0x1A05
0x1A06
0x1A07
0x1A08

Multi-Timestamping 2 Ch. 1x

0x1603
0x1604
0x160A
0x160E

0x1A05
0x1A06
0x1A07
0x1A08

Explanation of the process data

Standard digital output (default)

The outputs can be written directly with this standard PDO assignment, i.e. the connected actuators can be switched frame-triggered directly.

Process data 3:
Standard EL2212 process image

The EL2212 (A) has 2-byte variables at its disposal with different bit meanings. These can be seen by expanding the tree (A). They are also displayed in the detail view (B) if the appropriate display function (C) is activated.

The bit meaning i.e. offset position can then also be taken from the memory assignment display (E), taking into account the variable size (D).

Both the collective name e.g. Status and the individual bit variable e.g. OutputActive can be linked, but not both at the same time.

Input data

Collective name

Name

Description / function

Bit position [0 - 15]

Status

Ready to activate

The terminal signals its readiness for operation here.

0

 

Output active

The output is actively switched.

1

 

Tristate active

The output drivers are connected with high resistance; the load is connected neither to GND nor to the supply voltage

2

 

PWM active

The PWM is actively switched to the output n.

3

 

Warning

A warning has occurred - > evaluate “Diag data” (index 0xA000).

6

 

Error

An error has occurred and the output drivers are deactivated - > evaluate “Diag data” (index 0xA000).

7

 

TxPDO Toggle

Changes its state each time process data are exchanged.

15

WcState

 

Setpoint during operation: 0

Each datagram of the EL2212 indicates its processing state here. This allows the EL2212 to be monitored for correct process data communication.

 

InfoData (State)

 

Setpoint during operation: 8

Status display of the “EtherCAT state machine”

 

AdsAddr

 

AMS address of the responsible EtherCAT Master in the format "0.0.0.0.0.0". In addition, the port number valid for this Slave.

Required for acyclic accesses to the CoE at runtime.

 

Note: The EL2212 supplies 2 different status words (16 bit):

Output data

Collective name

Name

Description / function

Bit position [0 - 15]

Control

 

 

 

Output

Activate the output of channel n

1

Tristate

Switch channel n to high resistance

2

PWM

Switching PWM through

3

Reset

Reset of an error on channel n

7

Process data 4:

Observe priorities

If the two signals “Output” and “Tristate” are activated at the same time, “Tristate” has a higher priority.

Standard digital output with InfoData

Process data 5:
Additional information data

Two further cyclic data words can be displayed per channel for more exact information about the states of the actuators or the driver stage. The respective selection is to be configured via the appropriate Index 0x80n2:11 in the CoE. Among other things, the interior temperature of the terminal or the momentary current through the connected actuator can be selected, for example.

Input data

Name

Description / function

Info data 1

Additional channel information, definition in 0x80n2:11

Info data 2

Additional channel information, definition in 0x80n2:19

DC Digital output

Process data 6:
Additional process data for Distributed Clocks mode

In Distributed Clocks mode the EL2212 works according to timestamp order like the EL2252. Accordingly the process image is the same.

Input data

Name

Description / function

Feedback

The terminal returns the current state of the output channels in this byte. This can be used to check a switching order.

Bit 0: Output channel 1
Bit 1: Tristate channel 1
Bit 2: Output channel 2
Bit 3: Tristate channel 2

Output data

Name

Description / function

Activate

This byte activates a new start time in the terminal through the transition 0 --> 3 The sequence:

  1. in an EtherCAT cycle Activate = 0, transmit the target state of the two output channels and desired start time to the EL2212
  2. activate the switching order in the following EtherCAT cycle with Activate = 3

Only one switching order with the target states of both channels (output, tristate) can be conveyed to the EL2212/EL2252. After the expiry of the order the terminal is ready for a new switching order, unless the existing order is overwritten beforehand.

Start time

64-bit value of the next desired switching event.

The data of the DC time:

  • Start time 1.1.2000
  • Resolution 1 bit = 1 ns
Process data 7:

Switching time

The desired switching time must be far "enough" in the future, as seen from the time of calculation, in the NC/PLC in order to be capable of being conveyed to the terminal, including activation. Since 2 EtherCAT cycles are required for the activation, it is recommended not to make this interval smaller than 3 cycles.

DC Digital output with InfoData

Like both standard data types, additional information data can also be displayed in DC mode. See above.

Multi-time stamping

Process data 8:
Process data in multi-time stamping mode (2-fold oversampling)

The multi-time stamping supports two channels, each with 1-fold, 2-fold, 5-fold or 10-fold oversampling. The factor indicates the maximum number of events that can be loaded into the output buffer for each EtherCAT cycle.

Input data

Name

Description / function

Output short circuit

Output has a short-circuit/overload.

Output buffer overflow

More events have been written into the buffer than the number of free elements available.

Output state

Current state of the output.

Input cycle counter

Update counter of the PLC input data.

Output order feedback

Feedback of the order counter.

Events in output buffer

Current number of events remaining in the buffer.

Output data

Name

Description / function

Ctrl

Output buffer reset

Clear all events in the output buffer.

Manual output state

Set the output permanently to this value (can be activated via CoE and PDO, see Enable manual operation).

Force order

If "1", already expired events are also output. Relevant only if time stamp checking is activated, "Enable time check" = "1". See detailed explanation below.

Enable manual operation

Allow manual operation via the PDO bit "Manual output state".

Output order counter

Incrementation of this value indicates to the terminal that there are new values in the PDO.

No of output events

Number of events deposited in the PDO

Outputs

Output event state n

Output value at the time of the nth time stamp

Output event time n

Time stamp of the nth event

The EL2212 is processing multi timestamp requests by a clock of 25 µs and decides within this interval whether an execution is pending or not. Accordingly the feasible time resolution and therefore the time accuracy of the electrical switching signal is 25 µs also.

Detailed explanation of Enable time check/ Force order

The use of the time stamp check "Enable time check" = "1" is illustrated in the following in three modes in connection with the PDO "Force order":

Mode

Enable time check

Force Order

Effect

1

0

-

Time stamp check inactive, i.e. starting from the current DC time value, time stamps lying more than 100 µs in the past will be interpreted as future time stamps, which can lead to a delay of up to 4.29 s in transmissions of the states.

2

1

0

No output of obsolete events

Time stamp check active; the time interval of the time stamp to be transmitted is distributed over ±231, i.e. approx. 2.15 s in the past and approx 2.15 s in the future. The latter represents a lowered limit of the time range from approx. 4.29 s to approx. 2.15 s.

3

1

1

Immediate output of the obsolete event

Process data 9:
Treatment of the time stamp of the output states with activated time stamp check

Notice

Conditions for time stamps in the case of multi-time stamping

    • Time stamps must be sent to the terminal in a chronologically ascending order. If a time stamp should be older than the previous one, the output is delayed by up to approx. 4.29 s. Switching subsequently takes place.
    • Time stamps must lie in the future and must be sent promptly to the terminal. If the terminal detects that a time stamp lies in the past, the output is delayed for up to approx. 4.29 s. Switching subsequently takes place.
    • Unforeseen behavior during multi-time stamping:
      In both of the cases described above the output is blocked for up to approx. 4.29 seconds and the terminal may return a buffer overflow message.
      This can lead to an undesirable switching state.

    Process data overview

    Manual process data assignment is necessary for TwinCAT up to version 2.10.

    Sync Manager (SM)

    The extent of the process data that is made available can be changed through the "Process data" tab (see following figures).

    The PDOs from the range 0x160n (0x1600, 01x1601, 0x1602) can be assigned to the Output SyncManager, see fig. "Process Data Sync Manager with Outputs tab",

    the PDOs from the range 0x1A0n (0x1A00 to 0x1A049) to the Input Sync manager, see fig. "Process Data Sync Manager with Inputs tab".

    Not all combinations are technically possible

    Process data 10:
    Process Data SM2 (Outputs) tab, EL2212 (default)
    Process data 11:
    Process Data SM3 (Inputs) tab, EL2212 (default)

    Manual PDO Assignment

    In order to configure the process data, mark the desired Sync Manager "Inputs" or "Outputs" (both are editable) in the upper left-hand "Sync Manager" box. The process data assigned to this Sync Manager can then be switched on or off in the “PDO Assignment” box underneath. Restarting the EtherCAT system, or reloading the configuration in configuration mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the terminal.

    SM2 (Outputs), PDO assignment 0x1C12

    Index

    Index of excluded PDOs

    Size (byte.bit)

    Name

    PDO content

    0x1600 (default)

    0x1603

    2.0

    DOX Control
    Channel 1

    Index 0x7000:02 - Output

    Index 0x7000:03 - Tristate

    Index 0x7000:04 - PWM

    Index 0x7000:08 - Reset

    0x1601(default)

    0x1604

    2.0

    DOX Control
    Channel 2

    Index 0x7010:02 - Output

    Index 0x7010:03 - Tristate

    Index 0x7010:04 - PWM

    Index 0x7010:08 - Reset

    0x1602

    0x1607
    0x1608
    0x1609
    0x160A
    0x160B
    0x160C
    0x160D
    0x160E

    10.0

    DC Sync

    possible exclusively in conjunction with the DC operating mode!

    Index 0xF700:01 - Activate

    Index 0xF700:03 - Start time

    0x1603

    0x1600

    2.0

    DOX Control (MTO)
    Channel 1

    Index 0x7000:04 - PWM

    Index 0x7000:08 - Reset

    0x1604

    0x1601

    2.0

    DOX Control (MTO)
    Channel 2

    Index 0x7010:04 - PWM

    Index 0x7010:08 - Reset

    0x1605

    -

    3.0

    DOX PWM
    Channel 1

    Index 0x7000:11 - Duty cycle

    Index 0x7000:13 - PWM Tperiod

    0x1606

    -

    3.0

    DOX PWM
    Channel 2

    Index 0x7010:11 - Duty cycle

    Index 0x7010:13 - PWM Tperiod

    0x1607

    0x1602
    0x1608
    0x1609
    0x160A

    48.0

    MTO Outputs 10x
    Channel 1

    Index 0x7021:01 - Output buffer reset

    Index 0x7021:02 - Manual output state

    Index 0x7021:03 - Force order

    Index 0x7021:04 - Enable manual operation

    Index 0x7021:09 - Output order counter

    Index 0x7021:11 - No of output events

    Index 0x7021:21 - Output event state 1

    Index 0x7021:22 - Output event state 2

    Index 0x7021:23 - Output event state 3

    Index 0x7021:24 - Output event state 4

    Index 0x7021:25 - Output event state 5

    Index 0x7021:26 - Output event state 6

    Index 0x7021:27 - Output event state 7

    Index 0x7021:28 - Output event state 8

    Index 0x7021:29 - Output event state 9

    Index 0x7021:2A - Output event state 10

    Index 0x7021:41 - Output event time 1

    Index 0x7021:42 - Output event time 2

    Index 0x7021:43 - Output event time 3

    Index 0x7021:44 - Output event time 4

    Index 0x7021:45 - Output event time 5

    Index 0x7021:46 - Output event time 6

    Index 0x7021:47 - Output event time 7

    Index 0x7021:48 - Output event time 8

    Index 0x7021:49 - Output event time 9

    Index 0x7021:4A - Output event time 10

    0x1608

    0x1602
    0x1607
    0x1609
    0x160A

    28.0

    MTO Outputs 5x
    Channel 1

    see 0x1607 with accordingly fewer events

    0x1609

    0x1602
    0x1607
    0x1608
    0x160A

    16.0

    MTO Outputs 2x
    Channel 1

    see 0x1607 with accordingly fewer events

    0x160A

    0x1602
    0x1607
    0x1608
    0x1609

    12.0

    MTO Outputs 10x
    Channel 1

    see 0x1607 with accordingly fewer events

    0x160B

    0x1602
    0x160C
    0x160D
    0x160E

    48.0

    MTO Outputs 10x
    Channel 2

    Index 0x7031:01 - Output buffer reset

    Index 0x7031:02 - Manual output state

    Index 0x7031:03 - Force order

    Index 0x7031:04 - Enable manual operation

    Index 0x7031:09 - Output order counter

    Index 0x7031:11 - No of output events

    Index 0x7031:21 - Output event state 1

    Index 0x7031:22 - Output event state 2

    Index 0x7031:23 - Output event state 3

    Index 0x7031:24 - Output event state 4

    Index 0x7031:25 - Output event state 5

    Index 0x7031:26 - Output event state 6

    Index 0x7031:27 - Output event state 7

    Index 0x7031:28 - Output event state 8

    Index 0x7031:29 - Output event state 9

    Index 0x7031:2A - Output event state 10

    Index 0x7031:41 - Output event time 1

    Index 0x7031:42 - Output event time 2

    Index 0x7031:43 - Output event time 3

    Index 0x7031:44 - Output event time 4

    Index 0x7031:45 - Output event time 5

    Index 0x7031:46 - Output event time 6

    Index 0x7031:47 - Output event time 7

    Index 0x7031:48 - Output event time 8

    Index 0x7031:49 - Output event time 9

    Index 0x7031:4A - Output event time 10

    0x160C

    0x1602
    0x160B
    0x160D
    0x160E

    28.0

    MTO Outputs 5x
    Channel 2

    see 0x160B with accordingly fewer events

    0x160D

    0x1602
    0x160B
    0x160C
    0x160E

    16.0

    MTO Outputs 2x
    Channel 2

    see 0x160B with accordingly fewer events

    0x160E

    0x1602
    0x160B
    0x160C
    0x160D

    12.0

    MTO Outputs 10x
    Channel 2

    see 0x160B with accordingly fewer events

    SM3 (Inputs), PDO Assignment 0x1C13

    Index

    Index of excluded PDOs

    Size (byte.bit)

    Name

    PDO content

    0x1A00 (default)

    0x1A05

    2.0

    DOX Status
    Channel 1

    Index 0x6000:01 - Ready to activate

    Index 0x6000:02 - Output active

    Index 0x6000:03 - Tristate active

    Index 0x6000:04 - PWM active

    Index 0x6000:07 - Warning

    Index 0x6000:08 - Error

    Index 0x6000:10 - TxPDO Toggle

    0x1A01

    -

    4.0

    DOX Synchron info data
    Channel 1

    Index 0x6000:11 - Info data 1
    Index 0x6000:12 - Info data 2

    0x1A02 (default)

    0x1A06

    2.0

    DOX Status
    Channel 2

    Index 0x6010:01 - Ready to activate

    Index 0x6010:02 - Output active

    Index 0x6010:03 - Tristate active

    Index 0x6010:04 - PWM active

    Index 0x6010:07 - Warning

    Index 0x6010:08 - Error

    Index 0x6010:10 - TxPDO Toggle

    0x1A03

    -

    4.0

    DOX Synchron info data
    Channel 2

    Index 0x6010:11 - Info data 1

    Index 0x6010:12 - Info data 2

    0x1A04

    0x1A07
    0x1A08

    2.0

    DC Feedback

    possible exclusively in conjunction with the DC operating mode!

    Index 0xF600:01 - Feedback

    0x1A05

    0x1A00

    2.0

    DOX Status (MTO)
    Channel 1

    Index 0x6000:01 - Ready to activate

    Index 0x6000:04 - PWM active

    Index 0x6000:07 - Warning

    Index 0x6000:08 - Error

    Index 0x6000:10 - TxPDO Toggle

    0x1A06

    0x1A02

    2.0

    DOX Status (MTO)
    Channel 2

    Index 0x6010:01 - Ready to activate
    Index 0x6010:04 - PWM active
    Index 0x6010:07 - Warning
    Index 0x6010:08 - Error
    Index 0x6010:10 - TxPDO Toggle

    0x1A07

    0x1A04

    4.0

    MTO Inputs
    Channel 1

    Index 0x6020:01 - Output short circuit

    Index 0x6020:02 - Output buffer overflow

    Index 0x6020:03 - Output state

    Index 0x6020:0F - Input cycle counter

    Index 0x6020:11 - Output order feedback

    Index 0x6020:12 - Events in output buffer

    0x1A08

    0x1A04

    4.0

    MTO Inputs
    Channel 2

    Index 0x6030:01 - Output short circuit

    Index 0x6030:02 - Output buffer overflow

    Index 0x6030:03 - Output state

    Index 0x6030:0F - Input cycle counter

    Index 0x6030:11 - Output order feedback

    Index 0x6030:12 - Events in output buffer