Behavior on EtherCAT failure: watchdog

If EtherCAT communication is interrupted, the box no longer receives any default values from the controller. In this case, the watchdog intervenes and sets the respective output to a defined value.

You can enable and configure the watchdog individually for each output. There is one CoE parameter 8pp0:05 "Watchdog" per channel with the following options:

Value	Behavior on EtherCAT failure
0 "Default Watchdog Value"	The output value is set to the value specified in the parameter 0x8pp0:0D "Default Output".
1 "Watchdog Ramp Active"	The output value is moved linearly with the ramp time set in parameter 0x8pp0:0E "Default Output Ramp" to the value specified in parameter 0x8pp0:0D "Default Output". The unit of the parameter "Default Output Ramp" is [digits/ms]. Example: With "Default Output Ramp" = 100 and "Default Output" = 0, it takes 327 ms (32767/100) for the output value to reach the value "Default Output" from the maximum value (32767) in the event of an error.
2 "Last Output Value Active"	The last output value received from the controller before the EtherCAT failure is still output in the .

Value

Behavior on EtherCAT failure

0 "Default Watchdog Value"

The output value is set to the value specified in the parameter 0x8pp0:0D "Default Output".

1 "Watchdog Ramp Active"

The output value is moved linearly with the ramp time set in parameter 0x8pp0:0E "Default Output Ramp" to the value specified in parameter 0x8pp0:0D "Default Output".

The unit of the parameter "Default Output Ramp" is [digits/ms].

Example: With "Default Output Ramp" = 100 and "Default Output" = 0, it takes 327 ms (32767/100) for the output value to reach the value "Default Output" from the maximum value (32767) in the event of an error.

2 "Last Output Value Active"

The last output value received from the controller before the EtherCAT failure is still output in the .