Process data

The Process Data tab shows the configuration of the process data. The input and output data of the EtherCAT slave are represented as CANopen process data objects (PDO). If the EtherCAT slave supports it, this dialog allows the user to select a PDO via the PDO list and to vary the content of the individual PDO in the "PDO Content" list view.

Sync Manager

The list view lists the configuration of the Sync Managers (SM).

If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn). If the EtherCAT device has a mailbox, SM2 is used for the output process data and SM3 (inputs) for the input process data. The "Size" column shows the size of the Sync Manager in bytes.

If an entry is selected, the corresponding PDO assignment is displayed in the "PDO Assignment" list below.

PDO Assignment

The list contains the PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed here. If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed. If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.

The selected entries are the PDOs participating in the process data transfer. These PDOs are displayed in the I/O tree as variables of the EtherCAT device. The names of the variables are identical to the Name parameter of the PDOs, as displayed in the "Name" column of the "PDO List". If an entry in the PDO assignment list is disabled, i.e. not selected and grayed out, it indicates that this entry is excluded from the PDO assignment. To be able to select a grayed out PDO, you must deselect the PDO that prevents the grayed out PDO from being selected.

Activation of the PDO assignment

If you have changed the PDO assignment, the EtherCAT slave must pass the state transition PS from Pre-Operational to Safe-Operational once to activate the new PDO assignment (see Online tab). The new configuration must be re-enabled.

PDO List

All PDOs supported by this EtherCAT device are listed here. The content of the selected PDO is displayed in the PDO Content list. The PDO configuration can be modified by double-clicking on an entry.

Index

PDO index.

Size

Size of the PDO in bytes.

Name

Name of the PDO. If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this parameter as the name.

Flags

F: Fixed content. The content of this PDO is fixed and cannot be changed by TwinCAT.

M: Mandatory PDO. This PDO is mandatory and must therefore be assigned to a Sync Manager! As a consequence, you cannot delete this PDO from the list of PDO assignments.

SM:

Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does not take part in the process data traffic.

SU:

Sync Unit to which this PDO is assigned.

PDO Content

The list shows the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.

Index

Index of the subobject.

Size

Size of the subobject in bytes. "0.1" means a size of one bit.

Offs

Size of the offset in bytes. "0.1" means an offset of one bit.

Name

Name of the subobject.

Type

Data type of the subobject.

Default (hex)

A default setting can be entered here.

Download

If the device is intelligent and has a mailbox, the configuration of the PDOs and the PDO assignments to the device can be downloaded. This is an optional feature that is not supported by all EtherCAT slaves.

PDO Assignment

If this checkbox is checked, the PDO assignments configured in the PDO assignment list are downloaded to the device at start-up. The necessary commands to be sent to the device can be viewed under the Startup tab.

PDO Configuration

If this checkbox is checked, the configuration of the respective PDOs as displayed in the PDO List and the PDO Content is downloaded to the EtherCAT slave.

Predefined PDO Assignment (none)

If available, PDO configurations configured in the slave can be selected here.

Load PDO info from the device

Downloads PDO information from the slave and displays it in dialog.

Sync Unit Assignment…:

SyncUnit column

Number of the SyncUnit.

Name column

Name of the SyncUnit.

OK button

Closes the dialog and applies new settings.

Cancel button

Closes the dialog without applying new settings.