CoE Interface

Object directory

All EtherCAT slaves supporting the CoE interface have an object directory containing all parameter, diagnostic, process or other data that can be read or written via EtherCAT.

The object directory can be read via the SDO information service. It is included in the device description file. All EtherCAT slaves should support the SDO information service at least to such an extent that the compact object description of each object can be read (from index 0x1000). This object description contains the data type, the length, the access rights and information as to whether the object can be mapped in a PDO (and therefore can be used as process data).

Start-Up list

The Start-up list describes the interrelationship between EtherCAT state machine, process data mapping and device parameter settings during start-up of EtherCAT network.

Restoring the delivery state

Restoring the delivery state To restore the delivery state for backup objects in ELxxxx terminals, the CoE object "Restore default parameters", SubIndex 001 can be selected in the TwinCAT System Manager (Config mode) (see Fig. 1)

Fig. 1 Selecting the "Restore default parameters" PDO

Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field "Dec" or the value 0x64616F6C in field "Hex" and confirm with OK (Fig. 2).
All backup objects are reset to the delivery state.

Fig. 2 Entering a restore value in the Set Value dialog

Alternative restore value In some older terminals the backup objects can be switched with an alternative restore value: Decimal value: "1819238756" Hexadecimal value: "0x6C6F6164" An incorrect entry for the restore value has no effect.