Online topology view
The TwinCAT icon in the view represents the EtherCAT master. The EtherCAT slave devices connected to the master are displayed to the right of the master.
EtherCAT State Indicator
Ever device in the view has a state bar displaying the current EtherCAT of the slave:
No Commonication
A red box around the slave device indicates that the master is unable to communicate with the slave.
Crc error
If a crc error is detected at a port (A,B,C or D) of an EtherCAT slave, a red circle is displayed for each port that has a crc error.
The tooltips of the ports display the actual count of crc errors.
Slave Information Dialog
If you select an EtherCAT slave with the left mouse button, the Slave information dialog is opened:
EtherCAT Tab:
Name: | Name of the EtherCAT slave | |
Type: | Type of the EtherCAT slave | |
EhterCAT Addr: | The fixed Address of the EtherCAT slave device. This address is set by the master during the start-up phase. To change the default value, you must check the box left to the address. | |
Auto Inc Addr: | The Auto Increment Address of the EtherCAT slave device. Auto-increment addressing can be used to address each slave device via its physical position in the communication ring. Auto-increment addressing is used during the start-up phase, during which the master assigns the EtherCAT Address to the slaves. The first slave in the ring has an address of 0 and for each following the addresses is decremented (0xFFFF(-1),0xFFFE(-2) etc.). | |
Identity: | Identity of the slave device | |
| Vendor Id: | Vendor Id of the slave |
| Product Code: | Product code of the slave |
| Revision No: | Revision number of the slave |
| Serial No: | Serial number of the slave |
| Product/Revision: | Readable name for the product code and revision number. |
Karteireiter Online:
Init: Tries to set the EtherCAT slave device to the Init State.
Pre-Op: Tries to set the EtherCAT slave device to the Pre-Operational State.
Safe-Op: Tries to set the EtherCAT slave device to the Safe-Operational State.
Op: Tries to set the EtherCAT slave device to the Operational State.
Bootstrap: Tries to set the EtherCAT slave device to the Bootstrap State.
Clear Error: Tries to clear the error flag. If a slave device fails to change to another state, it sets the error flag. For instance a slave device is currently in the Pre-Operational state. Then the master requests the Safe-Operational state. If the slave device fails to change to Safe-Operational, it sets the error flag. The current state would be displayed as "ERR PREOP". After pressing the Clear Error the error flag is cleared and the current state would be displayed as "PREOP" again.
Current State: Current EtherCAT State of the slave device.
Requested State: EtherCAT State the master tried to set the slave to.
State Machine
Init: | Tries to set the EtherCAT slave device to the Init State. | |
Pre-Op: | Tries to set the EtherCAT slave device to the Pre-Operational State. | |
Safe-Op: | Tries to set the EtherCAT slave device to the Safe-Operational State. | |
Op: | Tries to set the EtherCAT slave device to the Operational State. | |
Bootstrap: | Tries to set the EtherCAT slave device to the Bootstrap State. | |
Clear Error: | Tries to clear the error flag. If a slave device fails to change to another state, it sets the error flag. For instance, a slave device is currently in the Pre-Operational state. Then the master requests the Safe-Operational state. If the slave device fails to change to Safe-Operational, it sets the error flag. The current state would be displayed as "ERR PREOP". After pressing the Clear Error, the error flag is cleared, and the current state would be displayed as "PREOP" again. | |
Current State: | Current EtherCAT State of the slave device. | |
Abbreviation | Description | |
INIT | Slave is in Init | |
PREOP | Slave is in Pre-Operational | |
SAFEOP | Slave is in Safe-Operational | |
OP | Slave is in Operational | |
BOOT | Slave is in Bootstrap | |
ERR | Error state set in slave | |
VPRS | Vendor Id, product code, revision number or serial number are incorrect | |
NO_COMM | No communication to the slave is possible | |
LNK_MIS Port | Link at the given port is missing (Port = A, B, C or D). | |
LNK_ADD Port | Additional link at given port. | |
LNK_ERR Port | Link without communication detected | |
Requested State: | State requested by the master. | |
Port A: | Count of crc errors at port A |
Port B: | Count of crc errors at port B |
Port C: | Count of crc errors at port C |
Port D: | Count of crc errors at port D |