General Behavior

Startup Checking

The user can define which slave information is to be checked by the master at start-up.

Check Vendor Id: If this checkbox is checked, the master checks whether the vendor Id of the slave device matches the configured Id.

Check Product Code: If this checkbox is checked, the master checks whether the product code of the slave device matches the configured code.

Check Revision Number: The revision number is 32 bits long. It is divided into a low word from bit 0 to bit 15 and a high word from bit 16 to bit 31.

==: The master checks whether the real revision number of the slave device matches the configured revision number.

>=: The master checks whether the real revision number of the slave device is greater than the configured revision number or equal to the configured revision number.

LW==: The master checks whether the low-word of the real revision number of the slave device is equal to the low-word of the configured revision number.

LW==, HW>=: The master checks whether the low-word of the real revision number of the slave device is equal to the low-word of the configured revision number and whether the high-word of the real revision number of the slave device is greater than the high-word of the configured revision number or equal to the high-word of the configured revision number.

HW==: The master checks whether the high-word of the real revision number of the slave device is equal to the high-word of the configured revision number.

HW==, LW>=: The master checks whether the high-word of the real revision number of the slave device is equal to the high-word of the configured revision number and whether the low-word of the real revision number of the slave device is greater than the low-word of the configured revision number or equal to the low-word of the configured revision number.

Check Serial Number: If this checkbox is checked, the master checks whether the serial number of the slave device matches the configured number.

Check Identification: Some EtherCAT slaves use an identification. An identification value can be set on them with a switch. If the "Check Identification" checkbox is checked, the system checks during start-up whether the identification value entered on the "EtherCAT" tab matches the identification value set on the EtherCAT slave.

Process data

Use LRD/LWR instead of LRW: If this checkbox is checked, an LRD (Logical Read) command is used to read the inputs from this device and a LWR (Logical Write) command is used to write data to the outputs of this device. Otherwise an LRW (Logical Read Write) command is used to read the inputs and write data to the outputs.

Include WC State Bit(s): If this checkbox is checked, an input variable indicating the working counter state of the EtherCAT slave device is added to the slave device.

Frame Repeat Support: The TwinCAT EtherCAT master supports multiple transfer of EtherCAT frames for increased interference immunity. The EtherCAT slaves used and affected must support this behavior. The slave manufacturer specifies this in the ESI description. Multiple sending of frames can be switched on and off here.

General

No AutoInc - Use 2. Address: If this checkbox is checked, the EtherCAT master does not address this EtherCAT slave during the start-up phase on the basis of the position in the EtherCAT ring, but reads a fixed address from the slave.

AutoInc only – No Fixed Address: If this checkbox is checked, the EtherCAT master does not address the EtherCAT slaves during the start-up phase by reading fixed addresses from the slaves (EtherCAT address), but by means of the position in the EtherCAT ring.

State Machine

Auto Restore States: If this checkbox is checked, the EtherCAT master tries to restore the state of the EtherCAT slave automatically. If the EtherCAT slave device changes from an error state (ERR SAFE-OP, ERR OP etc.) to a valid state (SAFE-OP, OP etc.), the EtherCAT master tries to set the device to the state which the master has currently memorized for the slave device. This memorized state is the last regularly reached state of the slave device.

Wait for WcState is Ok: If this checkbox is checked, the Auto Restore States is not performed until the WcState is OK again.

ReInit after Communication Error: If this checkbox is checked, the master restarts the slave device when the communication to the slave device has been interrupted by the "INIT" state as soon as the connection is re-established. Thus, after the connection has been restored, the devices also passes through the "INIT" state if the slave has only reverted to the "SAFEOP" state. In this way, a safe start-up is ensured and the slave device reaches an unambiguous state.

Log Communication Changes: Changes to the communication with the slave device are output in the error output area if this checkbox is checked. For example, "Communication interrupted" as a warning or "Communication re-established" as a message.

Final State

OP: If this option is selected, the slave device tries to enter the Operational state after the controller has started.

SAFEOP in Config Mode: If this checkbox is checked, in Config Mode the slave devices do not attempt to enter the Operational state when the Freerun mode is enabled, but only the Safe Operational state.

SAFEOP: If this option is selected, the slave device tries to enter the Safe-Operational state after the controller has started.

PREOP: If this option is selected, the slave device tries to enter the Pre-Operational state after the controller has started.

INIT: If this option is selected, the slave device remains in the Init state after the controller has started.

Info Data

In order to be able to use the checkboxes in this section, you must have enabled the Info Data in the master settings.

Include State: Here you can specify that the "State" input variable is added to the InfoData entry of the EtherCAT slave. This variable contains the current EtherCAT state and the link state of the EtherCAT slave.

Include Ads Address: Here you can specify that the "AdsAddr" input variable is added to the InfoData entry of the EtherCAT slave. Standard setting: Active for all EtherCAT slaves that support mailbox protocols such as CoE (CANopen over EtherCAT) or SoE (Servo over EtherCAT).

Include AoE NetId: If this checkbox is checked, the "NetID" for "ADS over EtherCAT" is inserted. Standard setting: Inactive.

Include Channels:

Here you can specify that the device channels are added to the InfoData entry of the EtherCAT slave.

Include DC Shift Times:

Here you can specify that the DC Shift Times are added to the InfoData entry of the EtherCAT slave.

Include Object Id:

Here you can specify that the object id is added to the InfoData entry of the EtherCAT slave.

Watchdog

Here you can configure the watchdog behavior.

Set Multiplier (Reg. 400h): Here you can set a multiplier for the PDI watchdog and for the SM watchdog. The multiplier converts the value set in the NumericUpDown control to a new value, which appears in the text box on the right in milliseconds.

Set PDI Watchdog (Reg. 410h):

Watchdog for the process data interface.

Set SM Watchdog (Reg. 420h):

Watchdog for the Sync Manager.