ZPA communication via EtherCAT

In the factory setting of the EP7402, ZPA communication with adjacent EP7402 takes place by means of digital switching signals via M8 cables.
This chapter describes how to configure an EP7402 so that ZPA communication takes place via EtherCAT instead.

ZPA communication via EtherCAT 1:

Digital inputs and outputs become available

If the ZPA communication is done via EtherCAT, you can use the digital inputs and outputs that were originally used for the ZPA communication for other purposes. See chapter Digital inputs and outputs in ZPA mode.

Setting the parameters

Set the following parameters in the CoE directory:

Parameter

Value

8040:14

"Upstream control input hardware selection"

144dec

"PDO value"

8040:15

"Upstream control output hardware selection"

0

"None"

8050:16

"Downstream control input hardware selection"

144dec

"PDO value"

8050:17

"Downstream control output hardware selection"

0

"None"

ZPA communication via EtherCAT 2:

Linking variables

In the controller, link the following variables between all adjacent EP7402:

ZPA communication via EtherCAT 3:
ZPA communication via EtherCAT 4:

Linking the variables directly

To link two variables directly in TwinCAT, proceed as follows:

  • Right-click a variable and select "Change Link..." from the context menu.
  • In the dialog box, uncheck "Exclude same Image".
    ZPA communication via EtherCAT 5:
  • Select variable and click "OK".