Tab ‘EtherCAT-Slave - General’¶

Object: EtherCAT Slave

The basic settings for the EtherCAT slave are configured in this tab. The basic settings are preset from the device description file.

Address¶
Fields can be edited only when the auto-configuration mode of the EtherCAT master is deactivated.
AutoInc address	Self-incrementing address (16-bit) that results from the position of the slave in the network. The address is used only during the system boot when the master assigns the EtherCAT addresses to its slaves. When the first message runs through the slaves for this purpose, each slave increments its AutoInc Address by 1. The slave with address 0 receives the data. A possible input here is “-8”.
EtherCAT address	Final address of the slaves, assigned by the master during bootup. The address is independent of the position of the slave in the network.

Additional¶
Expert settings	: Additional settings are possible for the start-up check and time monitoring (see below). The Expert Process Data tab is also available in the device editor. However, expert settings are not required for standard applications. The auto-configuration mode is recommended and sufficient for standard applications.
Optional	: The slave is defined as optional and no error message is generated if the device is missing from the bus system. Note: If you define a slave as “optional”, then it must have a unique identification. You can change this by means of the three possible settings in the Identification section. Available only when the Autoconfig Master/Slaves option is activated in the settings of the EtherCAT master and the EtherCAT slave supports this function.

Distributed Clocks¶
Select distributed clocks	Drop-down list with all settings for Distributed clocks in the device description file
Activate	: Cycle time for the data exchange, displayed in the Sync unit cycle (µs) input field, is determined by the cycle time of the master. The master clock can thus synchronize the data exchange in the network.

The Sync0 and Sync1 settings described below are slave-dependent:

Sync0¶
Activate sync 0	: Synchronization unit Sync0 is used. A synchronization unit describes a set of process data that is exchanged synchronously.
Sync unit cycle	: The master cycle time (multiplied by the factor selected from the drop-down list) is used as the synchronization cycle time for the slave. Cycle time (µs) displays the cycle time currently set.
User defined	: A user-defined cycle time (in microseconds) can be specified in the Cycle Time (µs) field.

Sync1¶
Activate sync 1	: Synchronization unit Sync0 is used. A synchronization unit describes a set of process data that is exchanged synchronously.
Sync unit cycle	: The master cycle time (multiplied by the factor selected from the drop-down list) is used as the synchronization cycle time for the slave. The Cycle time (µs) field displays the cycle time currently set.
User defined	: A user-defined cycle time (in microseconds) can be specified in the Cycle Time (µs) field.

Diagnostic¶
This area is displayed in online mode only.
Current state	State of the slave Possible states: Init, Pre-Operational, Safe Operational, Operational The state Operational indicates that the slave configuration has been correctly completed and that process data (inputs and outputs) are being accepted.

Start-up check¶
Check vendor ID	By default the vendor ID and product ID of the device are checked against the current configuration settings when the system boots up. If they do not agree, then the bus is stopped and no further actions are executed. This is done to prevent an incorrect configuration from being loaded onto the bus system. Options to deactivate the corresponding check.
Check product ID
Check revision number	: The revision number is checked during the system bootup according to your selection in the drop-down list.
Download of the expected module configuration	: For the online check of the configured and actual module configuration. If the configurations conflict with each other, then the device still switches to “Run” and an entry is recorded in the device log.

Timeouts¶
By default, time monitoring is not defined for the following actions. If necessary, an appropriate “timeout” time can be specified here (in milliseconds):
SDO access	Transmits the SDO list at system start. Specified in milliseconds.
I -> P	Switch from Init mode to Preoperational mode. Specified in milliseconds.
P -> S / S -> O	Switch from Preoperational mode to Safe Operational mode or from Safe Operational mode to Operational mode. Specified in milliseconds.

DC cyclic unit control: assign to localµC¶
One or more options for the Distributed clocks function can be activated here that should be used on the local microprocessor. The check is performed in the registry at 0x980 in the EtherCAT slave. Possible settings:
Cycle unit
Latch unit 0
Latch unit 1

Watchdog¶
Set multiplier	Watchdogs PDI and SM receive their signals from the local terminal clock, divided by the watchdog multiplier
Set PDI watchdog	This watchdog triggers if there is no PDI communication with the EtherCAT slave controller for longer than the PDI (Process Data Interface) watchdog time that has been set and activated.
Set SM watchdog	This watchdog triggers if there is no EtherCAT process data communication with the terminal for longer than the SM (SyncManager) watchdog time that has been set and activated

Identification¶
In this section, you set the device identification of the slave. In this way, you can make the address of the slave independent of its position in the bus. The following options are visible only if the Activate expert settings option or Optional option is activated. If you have identified the slave as Optional, then you must assign a unique ID to it.
Deactivated	The identification of the slave is not checked.
Configured station alias (ADO 0x0012)	Address that is stored in the EEPROM of the device. You can change this value in online mode.
Write EEPROM	Visible in online mode only for Configured station alias. Writes the defined address for Value to the EEPROM of the slave.
Explicit device identification (ADO 0x0134)	The device identification is hard set on the hardware (for example, by DIP switches). It is displayed in Actual address.
Data word (2 bytes)	A 2-byte value for the identification is saved in the slave.
Value	Expected value for the check. If the actual value does not match this setting, then an error is issued.
ADO (hex)	Initial value from the device description. You can change this value in the Data word option.
Actual address	Visible in online mode only. Displays the address of the slave. You can use this display for checking the success of the command Write to EEPROM.