PDO Assignment
In order to configure the process data, select the desired Sync Manager (SM 2 + 3 can be edited) 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.
The following PDO assignments are possible:
SM2, PDO Assignment 0x1C12 | ||||
|---|---|---|---|---|
Index | Size (byte.bit) | Name | PDO Content | Size (byte.bit) |
0x1600 (default) | 2.0 | Control__Reset | Index 0x7000:01 | 0.1 |
Control__Switch | Index 0x7000:02 | 0.1 | ||
[Offset] | - | 1.6 | ||
SM3, PDO Assignment 0x1C13 | ||||
|---|---|---|---|---|
Index | Size (byte.bit) | Name | PDO Content | Size (byte.bit) |
0x1A00 (default) | 4.0 | Status_Enabled | Index 0x6000:01 | 0.1 |
|
| Status_Tripped | Index 0x6000:02 | 0.1 |
|
| [Offset] | - | 0.2 |
|
| Status_Hardware Protection | Index 0x6000:05 | 0.1 |
|
| [Offset] | - | 0.2 |
|
| Status_Current Level Warning | Index 0x6000:08 | 0.1 |
|
| Status_Cool Down Lock | Index 0x6000:09 | 0.1 |
|
| [Offset] | - | 0.3 |
|
| Status_Diag | Index 0x6000:0D | 0.1 |
|
| Status_TxPDO State | Index 0x6000:0E | 0.1 |
|
| Status_input cycle counter | Index 0x6000:0F | 0.2 |
|
| [Offset] | - | 0.2 |
|
| Status_Error | Index 0x6000:13 | 0.1 |
|
| Status_State Reset | Index 0x6000:14 | 0.1 |
|
| Status_State Switch | Index 0x6000:15 | 0.1 |
|
| [Offset] | - | 1.3 |
 | Reliable edge detection Due to the asynchronous operation of the overcurrent protection terminal in relation to the EtherCAT master, it is necessary to implement a unique and reliable edge detection for switching on or resetting the overcurrent protection channels. To reliably detect the edges of the "Switch" or "Reset" process data outputs within the overcurrent protection terminal, the internal terminal state of these signals must be sent back to the EtherCAT master as mirrored feedback in the form of process data inputs. Only by querying and taking these signals into account can it be ensured that all edges are taken into account. This allows the user to leave a "1" for a signal edge change ("Reset" or "Switch") until the associated input signal ("State Reset" or "State Switch") reflects or acknowledges the "1". The same then occurs in the same way as the corresponding "0" signal. |