General

For simple and fast commissioning TwinCAT supports the user with suitable default settings and automatisms. In most cases these settings are adequate for stable system operation.
The settings, their effects and setting options are described below to facilitate customer specified handling or special behavior. The following topics will be discussed:

process data information
EtherCAT master settings
slave settings
Sync Task
distributed clock settings
EoE

Check the following elements for regular and proper operation of the EtherCAT system:

Element	Control options - online/commissioning engineer	Control options – application
TwinCAT on target system in RUN state (or CONFIG/FREERUN)	TwinCAT icon on target system (not programming system!) is green or blue System Manager info is green or blue/flashes red (FreeRun)	Application checks TwinCAT state via ADS
EtherCAT master in OP state	see Fig. Online diagnostics for EtherCAT device, A	EcMasterState query via ADS (PLC: block from TcEtherCAT.lib) ADS NetId of the EcMaster known from the device info data (see Fig. Online diagnostics for EtherCAT device)
All EtherCAT slaves in OP state	see Fig. Online diagnostics for EtherCAT device, B	EcSlavesState query via ADS (PLC: block from TcEtherCAT.lib)
Cyclic telegrams are sent based on cycle time	see Fig. Online diagnostics for EtherCAT device, C	Query via ADS
Acyclic telegrams are sent occasionally	see Fig. Online diagnostics for EtherCAT device, D	Query via ADS
none or few LostFrames/CRC in the slaves	see Fig. Online diagnostics for EtherCAT device, D	Query via ADS
EtherCAT DevState = 0	see Fig. Online diagnostics for EtherCAT device, E	Link to monitoring task
All slaves WorkingCounter = 0 throughout	see Fig. Online diagnostics for EtherCAT device, F	Link to monitoring task or Frm0WcState collect information from EcMaster inputs
No conspicuous outputs in the logger window		- (if diagnostics are OK, causes for logger outputs are determined by other means)
No cycle time exceedings		PLC: integration of TcUtilities.lib, thus access to SystemInfo and SystemTaskInfoArr[] if logged in
No E-bus current violation	see Fig. Online diagnostics for EtherCAT device, G	-
Various watchdogs adhered to (terminal standard 100 ms, FSoE with confirmation 100 ms)		determined through monitoring of states

General 2: — online diagnostics for EtherCAT device

The standard automatisms in the System Manager establish this state as soon as the configuration is activated and TwinCAT is switched to RUN/CONFIG mode.