Process data overview

Process data outputs

PDO

Member

Data type

Pos.

Meaning

DO Group m Outputs
(m=1..4)

Outputs Channel m

Y1

BIT

0

Make contact X1, X2 → Y1 switch through

Y2

BIT

0

Make contact X1, X2 → Y2 switch through

Y3

BIT

0

Make contact X1, X2 → Y3 switch through

Y4

BIT

0

Make contact X1, X2 → Y4 switch through

Process data inputs

PDO

Member

Data type

Pos.

Meaning

DO Inputs Device

Device Status

Error

BIT

0

Error within the analog channel, for details see further status bits or DiagnoseHistory

Diag

BIT

4

There is a DiagMessage in the CoE 0x10F3, it can be read from the terminal, e.g. via the TwinCAT Logger

Input cycle counter

BIT2

6, 7

Increments by 1 in each EtherCAT cycle, 0... 3. The controller can monitor this counter. If it does not increment by 1 in a cycle, this indicates a transmission error during this cycle. If necessary, adjust the ShiftTime in Distributed Clocks mode.

 

WcState

WcState

BIT

0

TRUE: The terminal does not participate in the EtherCAT data exchange, because it is not present or incorrectly configured

FALSE: The terminal regularly participates in the data exchange. Check the validity of the data with the respective status etc.

InputToggle

BIT

0

Toggles 0/1 when the slave sends new data via EtherCAT

 

PDO

Member

Data type

Pos.

Meaning

InfoData

State

UINT

0

State of the EtherCAT state machine: INIT, PreOP, SafeOP, OP

AdsAddr

netId

AMSNETID

0

ADS address (NetID/port) through which the CoE of the slave can be reached from the application

port

WORD

0

DcOutputShift

DINT

0

~Time between SYNC0 event and reading of the outputs (in ns, only DC mode)

DcInputShift

DINT

0

~Time between SYNC0 event and reading of the inputs (in ns, only DC mode)

Structure of the process data (TwinCAT 3) ELM264x/ ELM274x:

Process data overview 1:
PDO of the ELM2644 valid for ELM2744, too