5. Configuration Mode

5.1. Overview

At startup of EC-Engineer, the user will see this page:
../_images/start-screen.png

5.2. Device Settings

5.2.1. General

In this tab, the user can configure the name of the MainDevice and the cycle time. If he wants to connect to a control system, this can be also configured:
../_images/general.png
General
Unit Name:

Name of the MainDevice

Cycle Time:

Interval in microseconds in which all EtherCAT commands will be sent from the MainDevice. The user can choose between the following values: 125, 250, 500, 1000, 2000 and 4000. This value is used in the ENI.

Source MAC address:

MAC address of the connected system (will be filled during bus scan)

Project Information:

Information about the project (enable the CheckBox will also include this information as a comment in the exported ENI file)

SubDevices connected to local system
Link Layer:

Select the EtherCAT driver which is used.

Network Adapter:

Network adapter which is connected to the control system.

Requested MainDevice State:

EC-Engineer is tryining to put the master to this state after connecting.

Diagnosis Mode: Cycle Time:

This Cycle Time is only used for local diagnosis, but not for the ENI.

Diagnosis Mode: DCM:

Select the DCM Mode for local diagnosis.

../_images/architecture.png
SubDevices connected to remote system
Protocol:
Protocol of the remote system

  • RAS (Default port is 6000)

  • Mailbox Gateway (Default port is 34980)

    • EC-Master V3.0.1.22 and above

    • TwinCAT 3.1.4024 or TwinCAT 3.1.4022.30 and above

IP Address:

IP address of the remote system, which is connected to the control system

Port:

Port of the remote system, which is connected to the control system

MainDevice-Instance:

Used to determine which MainDevice instance should be used in the remote system (MainDevice supports up to 10 instances).

Data to load from capture file
Capture File:

Path to the capture file, which contains one ore more snapshots

5.2.2. Process Data Image

In this tab, the user can see all variables of the process data image. It can also be exported.
../_images/process-data-image.png
If the variables should be exported, the following dialog appears:
../_images/export.png
Export Formats:

  • CSV File (Semicolon separated text file)

  • CSV PLC File (Semicolon separated text file, where offsets are in PLC format)

  • PD Layout File (C-Header file which can be used from EC-Master-Demo application)

  • XML File (Like ProcessImage in ENI)

The variables can also be added to the watchlist, to have a better overview in diagnosis mode.

5.2.3. Watchlist

In this tab, the user can see all variables which were added to the watchlist in config mode:
../_images/watchlist.png

The variables can be edited and removed from the watchlist.

5.2.4. EtherCAT P Overview

In this tab, the user can check the EtherCAT P system, if there are EtherCAT P SubDevices in the configuration. For those EtherCAT P SubDevices, he can calculate and check the power consumptions in the EtherCAT P segments based on cables and loads:
../_images/master-ethercat-p.png

In the ComboBox the user can switch between all Power Sourcing Devices (PSD) in the configuration. In the grid are shown all the supplied SubDevices from the selected PSD, with the calculated voltages and currents and the selected loads. The values which are to high or to low are marked red.

Hint

These values are not relevant for the ENI-File. They are just a help for the user what might not work. The ENI File can be exported anyway.

On the Validate Button, the user can check the whole configuration. If there is an error somewhere, the correspondending PSD is selecte. If there are no errors the user will get a message box.

5.2.5. Trace Data (Expert)

In this tab, the user can add trace variables:
../_images/master-trace-variables.png
Trace Data

Trace variables which can be added from the user.

Buttons
New/ Edit/Delete:

Used for changing the list.

Up/Down:

Moving the selected variable up or down

5.2.6. Advanced Options

In this tab, the user can change MainDevice specific settings or he can change SubDevice specific settings which will be applied to all SubDevices:
../_images/master-advanced-options.png
MainDevice Settings

Init Command Retries: Number of retries, to handle transmission errors.

SubDevice Settings

  • SubDevice settings can be applied to all SubDevices with one click on the button Apply changes to all SubDevices. For a detailed description of the Advanced SubDevice Options see SubDevice chapter.

  • Identification Checking

    Use Current Values Identification Checking will be activated for all SubDevices with the current values

    Important

    If current is 0, the Identification is not activated!

    Copy Station Address –> Identification Checking will be activated for all SubDevices with the station address as identification value

    Copy Identification Value –> Identification Checking will be activated for all SubDevices and the identification value is also used as station address

5.2.7. SubDevice to SubDevice

In this tab, the user can configure the SubDevice to SubDevice communication by connecting 2 variables or PDOs.

This tab consists of 2 views:

Default view

In this view, the user can configure the SubDevice to SubDevice communication by using copy infos in ENI file. This is the default way.

../_images/master-slave2slave.png
In cycle view (Expert)

In this view, the user can configure the on cycle SubDevice to SubDevice communication by setup the process image and the FMMU in a way that inputs of the source SubDevice will be directly written into the outputs of the destination SubDevice during one cycle.

../_images/master-slave2slave_2.png
Limitations of one cycle SubDevice to SubDevice communication:

  • Input SubDevice must be located before output SubDevice

  • Complete sync unit of the SubDevice must be connected (this means all PDOs of a sync unit must be connected and not only one variable)

5.2.8. Distributed Clocks

In this tab, the user can change distributed clock related settings:
../_images/master-dc.png
Reference Clock
Name:

Name of the reference clock. By default, this is the first SubDevice with DC support.

Clock Adjustment
Master Shift:

The reference clock controls the MainDevice time

Bus Shift:

The MainDevice time controls the reference clock

External Mode:

The reference clock is controlled by an external sync device

Options
Sync Window Monitoring:

A command (datagram) will be inserted in the cyclic frame to read the ESC registers 0x092C. If this is selected the MainDevice will throw a notification.

Show 64Bit System Time:

MainDevice supports SubDevices with 32bit and 64bit system time register (0x0910). If this is selected he will interpret it as 64bit system time.

SubDevices with active DC

Shows a list of all SubDevices with active DC.

5.2.9. Tasks + Sync Units (Expert)

This tab consists of two views:

Tasks
In this view, the user can define additional cyclic tasks and MainDevice sync units. After adding a new MainDevice sync unit, the user can assign one or more SubDevice sync units on tab SubDevice Sync ‣ Units to this MainDevice sync unit:
../_images/master-su.png
Tasks:

List of cyclic tasks and MainDevice sync units.

Buttons:

New/Edit/Delete: Used for changing the list.

If the user wants to edit a task, the following dialog will appear:
../_images/edit-task.png
Comment:

Comment of this task (will be written to ENI file)

Cycle Time:

Cycle time of this task

Priority:

Priority of the task sending the frames. The lower the value, the higher the priority of the task. Every priority value shall only be used once. Allowed values: 1 … 62 (O). 0 is the default and means no priority is set.

If user wants to edit a MainDevice sync unit, he will see the following dialog:
../_images/edit-msu.png
Name:

Name of this MainDevice sync unit (will be written to ENI file)

Sync Unit Id:
Id of this MainDevice sync unit (will be written to ENI file).

  • ID 0 .. 9: Generated / internal MainDevice sync unit

  • ID 10 .. 999: Generated / internal MainDevice sync unit for groups

  • ID 1000 .. 1999: User defined MainDevice sync unit

Task Id:

Task Id to which is this MainDevice sync unit assigned

Offsets:

Activate to pin this MainDevice sync unit to a specific offset

Input:

Input offset of pinned MainDevice sync unit

Output:

Output offset of pinned MainDevice sync unit

Frames
In this view, the user can see the frames information, as well as the information of each of their commands.
../_images/master-frames.png

5.2.10. Data Acquisition

In this tab, the user can configure our Data Acquisition (DAQ) library. This library can be used from EC-Master to record process data in realtime.

After adding a new recorder, the user can select the variables which should be recorded and specify some triggers:
../_images/master-daq.png
Variables:
Add/Remove:

Used for adding or removing the selected variable to the recording.

Triggers:
New/Edit/Delete:

Used for changing the trigger list.

If user wants to edit a recorder, he will see the following dialog:
../_images/master-daq_2.png
Name:

Name of the recorder

File:

Absolute path of the recorder file on the MainDevice system

Format:
Format of the recorder file, e.g.

  • MDF (Measurement Data Format)

  • CSV (Comma Separated Values)

Sample Rate:

Sample rate of the recorded data e.g. every cycle or every second cycle, …

Real time stamp:

Adds a real time stamp to the recorded data

Cycle counter:

Adds a cycle counter to the recorded data

If user wants to edit a trigger, he will see the following dialog:
../_images/master-daq_3.png
General
Left variable:

Name of the left variable

Operator:

Operator of the trigger (e.g. =, >, >=, <, <=, !=)

Right value:

Value of the right operand to compare the left variable against a static value e.g. trigger, if variable is greater than 5

Right variable:

Name of the right variable to compare the left variable against the value of another variable e.g. trigger, if variable 1 is smaller than variable 2

Enable:

Enabled or disabled trigger (can be enabled from application later)

Start:

Start or stop trigger

Optional
Duration:

Duration in ms (0 = infinite) e.g. trigger should start recording for 500 ms

Count:

Trigger count (0 = infinite) e.g. trigger should hit only for 5 times

For more information please refer the manual of the EC-Master-Data-Acquisition-Library.

5.2.11. Motion Settings (Motion Tabs only)

In this tab, the user change settings for the EcMasterDemoMotion Configuration. It is also possible to export the DemoMotionConfig.xml file:
../_images/master-motion.png

When “Use local EcMasterDemoMotion” is selected, the ENI and the config files are automatically exported to the EC-Engineer Motion folder in ProgramData when switching to diagnosis mode. With the Motion EMI, the script automation is activated. Per default when switching to diagnosis mode the EcMasterDemoMotion.exe is started and EC-Engineer connects with RAS. So it is very simple to start with Motion directly in EC-Engineer.

5.2.12. Scripts

In this tab, the user can select scripts that are executed in the different modes. The tab is only visible when the script mode is activated in the EMI file:
../_images/master-scripts.png

The first procedure is for scanning the network. There is the possibility of starting two scripts before the scan, and two scripts after the scan. It is also possible to set a delay between them. A usecase for this could be to start e.g. LxWin –> then start the MainDevice on the real-time system –> scan the network –> stop the MainDevice –> stop LxWin.

The second procedure is for switching the modes (configuration and diagnosis). The user can e.g. start LxWin –> start the MainDevice –> switch to diagonis. On switching back the user can stop the MainDevice and stop LxWin. Or it is also possible not to stop the LxWin for example.

The Configuration and Configuration Mode circles are the starting points. Then the scripts are called clockwise following the arrows and the red numbers.

5.2.13. Simulator Settings (Simulator Tabs only)

In this tab, the user can change the settings for the simulator. The tab is only visible when the user uses EC-Simulator EMI or when the MainDevice has an linked simulator unit. The linked simulator unit can be created through the context menu of the MainDevice, or when the simulator link layer is selected:
../_images/master-simulator.png
Simulator RAS Port:

The port which is opend through the simulator link layer

License key:

The license key for the simulator

SubDevice Settings:
Operation Mode:

Ignore Download Error

CoE Settings:

Select which CoE should be used in EXI

Register Settings:

Select if register should be in EXI

Starting Position:

Select if SubDevice shall be powered on or off on start

EEPROM Settings:

Select which EEPROM values should be used

The EXI file can be exported through the Export EXI button right from the Export ENI Button or through the context menu.

5.3. SubDevice Settings

5.3.1. General (SubDevice)

In this tab, the user can see general SubDevice settings like station address or the name of the SubDevice. Also the connected ports can be seen.
../_images/slave-general.png
Address
Station Address:

Station address of the SubDevice. By default, the first station address is 1001.

Information
Name:

Name of the SubDevice. By default the following format is used “SubDevice_N [TYPE]”

Description:

Description of the SubDevice (Read from ESI file)

Vendor:

Name of the vendor the SubDevice

Product Code:

Product Code of the SubDevice

Revision Number:

Revision Number of the SubDevice

ESI File:

Name of the ESI `file where the description of the SubDevice is stored. :file:`ESI files can be managed by using the ESI-Manager

Identification Value:

Identification Value of the SubDevice

Ports
Connected Devices:

List of connected devices

5.3.2. Modules

In this tab, the user has can assign modules into the specific slots. He can also change the setting for downloading the slot configuration to the SubDevice:
../_images/slave-mdp.png
Connect module to slot (“<<”)

Used for connecting the selected module (from the right list) to the selected slot (from the left list). If the slot is already connected, the module will be inserted and the subsequent modules will be moved (if this is supported from the SubDevice)

Disconnect module from slot (“X”)

Used for disconnecting the selected slot (left list)

Note

The modules can be also connected and disconnected by using the context menu in the project explorer.

5.3.3. PDO Mapping

This tab consists of 2 views:

5.3.3.1. PDO

In this tab, the user can see the current PDO mappings. For some SubDevice types the user can activate or deactivate some PDO configurations:
../_images/slave-pdo.png
Lists of inputs or outputs
Checkbox:

Signals if PDO will be used for the current configuration or not.

Buttons
Add/Delete/Edit:

Used for changing the lists, if it is allowed by the ESI. First the list which should be changed must be selected.

Up/Down:

Moving the selected PDO in the selected list up or down

Load PDO information:

If EC-Engineer is connected to the control system, the user can load the PDO information directly from the SubDevice

Context Menu
Both lists provide a context menu:
../_images/slave-pdo_2.png
If user wants to add or edit a PDO, he will see the following dialog:
../_images/slave-pdo-edit.png
General:
Name:

Name of the PDO

Index:

Index of the PDO (can be entered in hexadecimal or decimal)

Flags:
Mandatory:

PDO cannot be deleted

Fixed Content:

Content of PDO cannot be changed

Virtual PDO:

PDO has no entries

Direction:
TxPdo:

Input PDO

RxPdo:

Output PDO

Sync Manager:

Selected the Sync Manager, which should be used (only visible if more than one can be used)

Exclude:

Select the PDOs which cannot be activated if this PDO is activated

Entries:

List of configured PDO entries

If user wants to add or edit a PDO entry, he will see the following dialog:
../_images/slave-pdo-entry-add.png
General
Name:

Name of the PDO entry

Comment:

Commet of the PDO entry

Swapping:

Swapping mode of the PDO entry

The user can either add the entry from the CoE Object-Dictionary or manually input it.

Modes
CoE OD:

If the Object-Dictionary is supported by the SubDevice, the user can choose an object from it.

Manual:

The user can manually enter the information of the entry in this mode.

Settings
Index:

Index of the PDO entry (can be entered in hexadecimal or decimal)

Subindex:

Subindex of the PDO entry (hexadecimal)

Datatype:

List of available datatypes

Bit Length:

Length of the PDO entry in bits

CoE Object-Dictionary (loaded only if Object-Dictionary is supported by SubDevice)

../_images/slave-pdo-entry-edit.png
General
Name:

Name of the PDO entry

Comment:

Commet of the PDO entry

Swapping:

Swapping mode of the PDO entry

5.3.3.2. FMMU/SM (Expert)

In this tab, the user can see some information about FMMU and SyncManager:
../_images/slave-fmmu.png
Lists of FMMUs

Available FMMUs comes from the ESI file.

Lists of SyncManagers

Available SyncManagers comes from the ESI file.

5.3.4. Variables

In this tab, the user can see the variables of the SubDevice and if it is allowed he can also add/edit/delete/move variables. Also “Add to watchlist” is possible:
../_images/slave-variables.png
Lists of Variables

Variables comes from the ESI file or will be generated from the configurator.

Buttons
New/Edit/Delete:

Used for changing the list.

Up/Down:

Moving the selected variable up or down

New/Edit/Delete Alias:

Used for changing alias variables

If user wants to add a variable, he will see the following dialog:
../_images/slave-add-variable.png
Options
Group:

List of possible groups, where the new variable should be added

Datatype:

List of possible datatypes of the new variable

Count:

Number of variables, which should be added

Combie:

Combines all variables to an array

If user wants to edit a variable, he will see the following dialog:
../_images/slave-edit-variable.png
Options
Name:

Name of the variable, which can be changed from the user

If user wants split a variable into multiple parts to build e.g. a structure, he can add an alias to a vailable. In that case he will see the following dialog:
../_images/slave-add-alias.png
Options
Name:

Name of the alias

Datatype:

List of possible datatypes of the new alias

Offset:

Bit offset of the alias

If user wants to edit a alias, he will see the following dialog:
../_images/slave-edit-alias.png
Options
Name:

Name of the alias, which can be changed from the user

5.3.5. EtherCAT P

In this tab, the user can configure the selected EtherCAT P SubDevice. The Tab is only visible when the selected SubDevice is an EtherCAT P SubDevice:
../_images/slave-ethercat-p.png
Wire Gauge:

The wire type of the input cable

Wire Length:

The wire length of the input cable

Us:
System Voltage
The system voltage shall supply all internal and externally connected types of sensors and inputs. All bus system relevant parts of the device shall completely be powered by the Us.
Actual Voltage:

The actual voltage at the SubDevice

Min Voltage:

The min Voltage the SubDevice needs. Value is from ESI but also editable.

Load:

The Load which is externally needed.

Load Type:

The Load Type of the externally needed load

Up:
Peripheral Voltage:
Up is used to supply internal and externally connected actuators and outputs.
Actual Voltage:

The actual voltage for the outputs

Min Voltage:

The min Voltage the SubDevice needs. Value is from ESI but also editable.

Load:

The Load which is externally needed.

Load Type:

The Load Type of the externally needed load

Load Types:

Sw Regulator in Watt LDO in Ampere Resistor in Ohm

5.3.6. Advanced SubDevice Options

In this tab, the user can change advanced options of the SubDevice:
../_images/slave-advanced-options.png
Startup Checking
MainDevice will check the Vendor ID, Product code, Revision number if the state machine changes from INIT to PREOP of the SubDevice. Revision number can be verified by six ways:

  • “==” –> HI word is equal, LO word is equal

  • “>=” –> HI word is equal or greater, LO word is equal or greater

  • “LW ==” –> HI word is equal

  • “LW ==, HW >=” –> LO word is equal, HI word is equal or greater

  • “HW ==” –> LO word is equal

  • “HW ==, LW >=” –> HI word is equal, LO word is equal or greater

Identification Checking

If ‘Check Identification is selected, the Identification Value of the SubDevice is checked. In the ‘Select Local Address’ Box is the register of the Identification Value.

Process Data Mode

Disable LRW: Determines whether LRD/LWR command or the LRW command is used for accessing process data. Cable redundancy needs LRD/LWR, SubDevice-to-SubDevice-copy needs LRW.

Watchdog
Set Multiplier:

Writes the configured value to the corresponding SubDevice register: 0x0400

Set PDI Watchdog:

Writes the configured value to the corresponding SubDevice register: 0x0410 (0 = Watchdog is disabled)

Set SM Watchdog:

Writes the configured value to the corresponding SubDevice register: 0x0420 (0 = Watchdog is disabled)

Distributed Clocks
Potential Reference Clock: Set to use SubDevice as a potential reference clock

  • This might be useful, if e.g. a hot connect SubDevice, which is used as reference clock, was disconnected from the network

  • In that case the EC-Master searches for the first potential reference clock

  • If no potential reference clock SubDevice was found, the first DC SubDevice will be used

Timeouts
SDO Access:

Internal MainDevice timeout which is used for accessing the SDO (0 = Use internal default value of the MainDevice)

Init –> PreOp:

Internal MainDevice timeout with is used for changing SubDevice state

Pre-Op –> Save-Op or Safe-Op –>Op:

Internal MainDevice timeout with is used for changing SubDevice state

Back to Pre-Op, Init:

Internal MainDevice timeout with is used for changing SubDevice state

Op –> Safe-Op:

Internal MainDevice timeout with is used for changing SubDevice state

Mailbox Mode
Cyclic:

Interval in milliseconds within the input mailbox will be read (polling mode)

Override Bootstrap Polling

Interval in milliseconds within the bootstrap will be read (when activated, it uses the polling time from the mailbox by default)

State Change:

The input mailbox will be read only if the status bit is set

Overwrite Mailbox Size
Output Size:

Overwrites mailbox output size

Input Size:

Overwrites mailbox input size

Process Data Sync Manager Mode
Default:

Uses sync manager mode from ESI file

Buffered (3 buffer mode):

Enables 3 buffer mode

Mailbox (Single buffer mode):

Enables single buffer mode

5.3.7. (Hot Connect) Groups

In this tab, the user can choose if this group has a fixed offset in the process data image or if this group is a hot connect group:
../_images/slave_group.png

Note

Tab is only visible if SubDevice is the first member of a group.

General
MSU Id:

Generated MainDevice Sync Unit Id

Name:

Name of the group

Pinned Group
Input Offset:

Fixed input offset of the group in the process data image in bytes

Output Offset:

Fixed output offset of the group in the process data image in bytes

Hot Connect Group
Identification Offset:

Register offset where the identification can be read from the SubDevice

Identification Value:

Hardware identification value or configured station alias address can be used. For more information about the configured station alias address, see EEPROM

A new group can be created by selecting all SubDevices (by using the SHIFT key or the CTRL key), open the context menu and select Create Group in the project explorer:
../_images/create-group.png
The new group can be modified by selecting the head SubDevice of this group and open tag Group:
../_images/edit-group.png

On this tab, the user can pin this group of SubDevices to a specific offset in the process image and / or build a hot connect group. If we do this, in that case this will generate an invalid topology error, because a normal SubDevice is still connected to this hot connected, which is not allowed.

In that case we can use “cut & paste” to solve this issue by connecting this hot connect group to the end of the SubDevices:
../_images/edit-group_2.png
../_images/edit-group_3.png
Now, we have a hot connect group which is connectable only to SubDevice 1011. If we want to connect this group to any SubDevice on the network, we have to detach the group:
../_images/edit-group_4.png

A group can be deleted by selecting the head SubDevice of this group, open the context menu and select “Remove Group” in the project explorer (only attached HC groups can be deleted).

Possible group related error messages:

  • Detached group can not be attached to the old position in the tree (e.g. previous SubDevices was deleted or disabled) the head SubDevice of the group will be reported as “not connected”. In that case the user can connect the head SubDevice by using “cut” and “paste”.

  • Invalid topology from SubDevice (fixed HC group on MainDevice) was displayed: this means that the first HC group which is connected to the MainDevice should be detached, because this is not valid in the ENI file

  • Invalid topology from SubDevice (SubDevice connected to HC group) was displayed: this means that a normal SubDevice is connected to a hot connect group and should be also moved also into a hot connect group or moved to another position in the tree

5.3.8. Ethernet (EoE)

In this tab, the user can activate EoE support and change the settings:
../_images/slave-eoe.png
Ethernet (activates EoE support):
Virtual MAC address:

Virtual MAC address. If “Auto” is checked, the Virtual MAC address will be generated from the Station Address, e.g. Station Address is “1010” (= 0x03F2), will generate the Virtual MAC address: “01 00 00 00 03 F2”

Time Stamp Requested:

SubDevice will response with the exact send time and the same Frame Number and he should response as soon as possible

Port Mode:

SubDevice can run in “Switch Port” or in “IP Port” mode

Override IP Settings:

All IP settings will be overwritten from MainDevice like IP Address, Subnet Mask, Default Gateway, DNS Server and DNS Name.

5.3.9. EEPROM (Expert)

This tab consists of two views:

Smart View

In this view, the user can see the values of the EEPROM from the ESI file.

../_images/slave-eeprom.png
Hex View

In this view, the user can create an EEPROM from an ESI file and save the EEPROM to disk.

../_images/slave-eeprom_2.png

5.3.10. Distributed Clock

In this tab, the user can change distributed clock related settings:
../_images/slave-dc.png
Reference Clock
Operation Mode:

Selectable DC operation modes. The modes cannot be edited.

Sync Unit Cycle:

Base interval in microseconds which will be used from MainDevice (see General)

Overwite Mode:

Overwrites the settings of the selected operation mode (might be necessary, if the SubDevice doesn’t offer the right operation mode)

Sync Units
Sync Unit 0
Cycle Time
Sync Unit Cycle:

Unit is synchronized relative to the Unit Cycle

User defined:

Unit has its own interval

Shift Time

Unit is adjusted by the shift time

Sync Unit 1
Cycle Time
Sync Unit Cycle:

Unit is synchronized relative to the Unit Cycle

Sync 0 Cycle:

Unit is synchronized relative to the first Sync Unit

User defined:

Unit has its own interval

Shift Time

Unit is adjusted by the shift time

5.3.11. Init Commands (Expert)

In this tab, the user can view the current configured init commands and if it is allowed he can also add/edit/delete init commands:
../_images/slave-initcmds.png
Lists of Init Commands

Init Commands comes from the ESI file or will be generated from the configurator. The “Access” column tells the user if this Init Command can be edited (RW = Read/Write) or not (RO = Read-Only).

Buttons
New/Copy/Edit/Delete:

Used for changing the list

Up/Down:

Moving the selected Init Command up or down

At the moment only Init Commands of the CoE- and SoE- Protocol can be added or changed. If the user wants to do this he will see the following dialog (CoE):
../_images/slave-edit-initcmd.png
General
Index:

CoE-Index of the Init Command

SubIndex:

CoE-SubIndex of the Init Command

Value:

Value of the Init Command, which should be written in the chose transition (only available if direction is set to “Download”). If type of value is unknown, the hex format must be used like “00 11 22 33 …”.

Comment:

Comment of the Init Command

Transition

Determines in which transition the Init Command will be executed

Further Settings

Determines if the complete SDO object should be written/read

Direction
Determines the direction of the Init Command
Download:

Writes value to SubDevice

Upload:

Reads value from SubDevice (e.g. necessary if value must be confirmed)

For SoE the user will see the following dialog:
../_images/slave-edit-initcmd_2.png
General
Index:

SoE Idn of the Init Command

Channel:

The channel of the Init Command

Value:

Value of the Init Command

Comment:

Comment of the Init Command

Transition

Determines in which transition the Init Command will be executed

5.3.12. CoE Object-Dictionary

In this tab, the user can see and edit the offline CoE object dictionary.
../_images/slave-coe.png
Lists of CoE Object-Dictionary entries

  • Entries comes from the ESI file or will be generated from the configurator.

  • The “Flags” column tells the user if this entry is an PDO entry and if it can be edited

    • “AA BB C D (EE FF GG)”

    • AA = Mapping as RX PDO or not

    • BB = Mapping as TX PDO or not

    • C = Backup Flag

    • D = Settings Flag

    • EE = Access rights for PreOp (RO, WO, RW)

    • FF = Access rights for SafeOp (RO, WO, RW)

    • GG = Access rights for Op (RO, WO, RW)

Buttons
Update:

Changes the selected entry

Reset:

Resets the selected entry to ESI default

5.3.13. SoE Object-Dictionary

In this tab, the user can see and edit the offline SoE object dictionary.
../_images/slave-soe.png
Lists of SoE Object-Dictionary entries

Entries comes from the ESI file

Buttons
Update:

Changes the selected entry

Reset:

Resets the selected entry to ESI default

5.3.14. Sync Units (Expert)

In this tab, the user can assign a SubDevice sync unit to a specific MainDevice sync unit by using the combobox column “MainDevice Sync Unit” (only visible if user has defined additional MainDevice sync units).
../_images/slave-su.png

5.3.15. Profinet IO Device

In this tab, the user can configure the Profinet IO Device.

General
../_images/slave-special_3.png
General
Activate:

Activates the automatism for generating PDOs and Init Commands

IO Device Parameter Set
Module DAP Version:

Module DAP version of the DP SubDevice (0 = Auto, 1 = V2.0, 2 = V2.25, 3 = V2.3, at least FW 02, 4 = V2.31, at least FW 03, 5 = V2.32, at least FW 08, 6 = V2.33, at least FW 10, 7 = V2.33, at least FW 14, 8 = V2.41, at least FW 17, 9 = V2.44)

Station Name:

Station name of the DP SubDevice (max: 240 chars)

IP Address:

IP Address of the DP SubDevice

Subnet:

Subnet of the DP SubDevice

Gateway:

Gateway of the DP SubDevice

Modules
../_images/slave-special_4.png
Connect module to slot (“<<”)

Used for connecting the selected module (from the right list) to the selected slot (from the left list).

Disconnect module from slot (“X”)

Used for disconnecting the selected slot (left list)

Supported devices
Profinet IO device

  • EL6631-0010

  • EL6633-0010

5.3.16. K-bus Coupler

In this tab, the user can configure the K-bus Coupler or IP Link Coupler.

General
../_images/slave-special_5.png
General
Activate:

Activates the automatism for generating PDOs and Init Commands

Check Terminals at Startup:

Activates the automatism for checking terminals at startup

Modules
../_images/slave-special_6.png
Connect module to slot (“<<”)

Used for connecting the selected module (from the right list) to the selected slot (from the left list).

Disconnect module from slot (“X”)

Used for disconnecting the selected slot (left list)

Supported devices
K-bus Coupler

  • BK1120

  • BK1150

  • BK1250

IP Link Coupler

  • IL2300-B110

  • IL2301-B110

  • IL2302-B110

5.3.18. Profibus DP MainDevice (EL6731)

In this tab, the user can configure the Profibus DP MainDevice EL6731.
../_images/slave-special_8.png
General
Activate:

Activates the automatism for generating PDOs and Init Commands

DP Slave Parameter Set
Station Address:

Station Address of the Profibus DP MainDevice (permitted values: 0-255)

Baudrate:

Baudrate of the Profibus DP MainDevice (0 = 9.6 kBaud, 1 = 19.2 kBaud, 2 = 93.75 kBaud, 3 = 187.5 kBaud, 4 = 500 kBaud, 6 = 1.5 MBaud, 7 = 3 MBaud, 8 = 6 MBaud, 9 = 12 MBaud)

Slot Time:

Slot Time of the Profibus DP MainDevice

Min. TSDR:

Min. TSDR of the Profibus DP MainDevice

Max. TSDR:

Max. TSDR of the Profibus DP MainDevice

Quiet Time:

Quiet Time of the Profibus DP MainDevice

Setup Time:

Setup Time of the Profibus DP MainDevice

Target Token Rotation Time:

Target Token Rotation Time of the Profibus DP MainDevice

GAP Update Factor:

GAP Update Factor of the Profibus DP MainDevice

HSA:

HSA of the Profibus DP MainDevice

Max Retry Limit:

Max Retry Limit of the Profibus DP MainDevice

Min. Slave Interval:

Min. Slave Interval of the Profibus DP MainDevice

Operate Delay (in 100 ms):

Operate Delay of the Profibus DP MainDevice

Cycle Time (ns):

Cycle Time of the Profibus DP MainDevice

The Profibus DP MainDevice supports up to 126 Profibus DP SubDevices. They can be added in the tree by clicking ‘Append Module’.
../_images/slave-special_8_1.png
Settings
Station No:

Station No of the Profibus DP SubDevice

GSD File:

GSD File of the Profibus DP SubDevice, which can be loaded with button “Load GSD File”

Ident No:

Ident No of the Profibus DP SubDevice

Vendor:

Vendor of the Profibus DP SubDevice

Model:

Model of the Profibus DP SubDevice

Revision:

Revision of the Profibus DP SubDevice

Max Diag Data Length:

Max Diag Data Length of the Profibus DP SubDevice

Max Channel Data Length:

Max Channel Data Length of the Profibus DP SubDevice

C1 Timeout:

C1 Timeout of the Profibus DP SubDevice

The IO configuration of the Profibus DP SubDevice can be done by adding specific Profibus DP Modules to the Profibus DP SubDevice. They can be added in the tree by clicking ‘Append Sub Module’.
../_images/slave-special_8_2.png

Note

DP PrmData can be also configured, if the specific Profibus DP SubDevice supports them in the GSD file.

5.3.19. Profibus DP SubDevice (EL6731-0010)

In this tab, the user can configure the Profibus DP SubDevice EL6731-0010.
../_images/slave-special.png

Note

It can be configured similiar like the Profibus DP MainDevice, except it has not all settings and supports only one Profibus DP SubDevice. It also supports a special Profibus DP SubDevice which can be used without GSD file and has a fixed set of Profibus DP Modules.

5.3.20. CANopen MainDevice (EL6751)

In this tab, the user can configure the CANopen MainDevice EL6751. He can add Modules, PDOs, SDOs and variables by clicking the right mouse button. To activate the MainDevice, the user have to go to the general settings of the EL6751 entry, and set activated to ‘1’. If activated is ‘1’ all init commands and PDOs will be activated automatically.

Also the user can rename and delete modules, PDOs, SDOs, and variables:
../_images/slave-special_9.png

5.3.21. CANopen SubDevice (EL6751-0010)

In this tab, the user can configure the CANopen SubDevice EL675-0010. He can add PDOs and variables by clicking the right mouse button. To activate the gateway, the user have to go to the general settings of the EL6751-0010 entry, and set activated to ‘1’. If activated is ‘1’ all init commands and PDOs will be activated automatically.

Also the user can rename and delete PDOs and variables:
../_images/slave-special_10.png

5.3.22. DeviceNet MainDevice (EL6752)

In this tab, the user can configure the DeviceNet MainDevice EL6752.
../_images/slave-special_11.png
General
Activate:

Activates the automatism for generating PDOs and Init Commands

Bus Parameter Set
Mac-Id:

Mac-Id of the DeviceNet MainDevice (permitted values: 0-63)

Baudrate:

Baudrate of the DeviceNet MainDevice (3 = 125 kBaud, 2 = 250 kBaud, 1 = 500 kBaud)

IO-Cycle Time:

IO-Cycle Time of the DeviceNet MainDevice

Quick Connect:

Enables Quick Connect of the DeviceNet MainDevice

The DeviceNet MainDevice supports up to 63 DeviceNet SubDevices. They can be added in the tree by clicking ‘Append Module’.
../_images/slave-special_12.png
Settings
MAC ID:

MAC ID of the DeviceNet SubDevice

Check Vendor-ID:

Enable to check Vendor-ID

Vendor-ID:

Vendor-ID of the DeviceNet SubDevice

Check Device Type:

Enable to check Device Type

Device Type:

Device Type of the DeviceNet SubDevice

Check Product Code:

Enable to check Product Code

Product Code:

Product Code of the DeviceNet SubDevice

Check Revision:

Enable to check Revision

Revision:

Revision of the DeviceNet SubDevice

Polled Produced:

Enable if DeviceNet SubDevice has produced data in Polled DeviceNet mode

Polled Consumed:

Enable if DeviceNet SubDevice has consumed data in Polled DeviceNet mode

Polled Expected Packet Rate:

Expected packet rate in Polled DeviceNet mode

Bit-Strobed Produced:

Enable if DeviceNet SubDevice has produced data in Bit-Strobed DeviceNet mode

Bit-Strobed Consumed:

Enable if DeviceNet SubDevice has consumed data in Bit-Strobed DeviceNet mode

Bit-Strobed Expected Packet Rate:

Expected packet rate in Bit-Strobed DeviceNet mode

State Produced:

Enable if DeviceNet SubDevice has produced data in Change of State or Cyclic DeviceNet mode

State Consumed:

Enable if DeviceNet SubDevice has consumed data in Change of State or Cyclic DeviceNet mode

State Use Cyclic:

Enable to activate Cyclic DeviceNet mode or disable to activate Change of State DeviceNet mode

State Send-Rate:

Send rate in Change of State or Cyclic DeviceNet mode

State Inhibit-Time:

Inhibit time in Change of State or Cyclic DeviceNet mode

State Acknowledge:

Enable acknowledge in Change of State or Cyclic DeviceNet mode

State Acknowledge-Timeout:

Acknowledge timeout in Change of State or Cyclic DeviceNet mode

State Acknowledge-Retry-Limit:

Acknowledge retry limit in Change of State or Cyclic DeviceNet mode

Max Startups:

Maximum amount of supported startups (permitted values: 0-99)

Coupler State:

Enable if DeviceNet SubDevice provides CouplerState (information is available e.g. for Beckhoff Bus Couplers like BK52x0, IPxxxx-B520, …)

Startup
Class ID:

Class ID of the startup

Instance ID:

Instance ID of the startup

Attribute ID:

Attribute ID of the startup

Value:

Value of the startup in bytes like “00 11 22”

Name:

Name of the startup

The IO configuration of the DeviceNet SubDevice can be done by adding specific DeviceNet Modules to the DeviceNet SubDevice. They can be added in the tree by clicking ‘Append Sub Module’.
../_images/slave-special_13.png

Note

The modules must be choosed from the specific group, depending on the selected DeviceNet mode (Polled, Bit-Strobed, State).

5.3.23. DeviceNet SubDevice (EL6752-0010)

In this tab, the user can configure the DeviceNet SubDevice EL6752-0010.
../_images/slave-special_14.png

Note

It can be configured similiar like the DeviceNet MainDevice, except it has not all settings and supports only one DeviceNet SubDevice.

5.3.24. Motion (Motion Mode only)

On this tab the user can change the and activate the axis for the motion. The settings are used in the xml file which can be exported from the MainDevice motion tab, to configure the Demo Motion:
../_images/slave-motion.png

5.3.25. Simulation Settings

On this tab the user can change the simulator settings for the SubDevice:
../_images/slave-simulator.png
Application Name:

The application name for the EXI file

Ignore Download Error:

Ignores errors on download

Starting Position
Power Off:

Select if SubDevice should be powered on or off on start

Custom previous port:

manipulate the topology

CoE Tab
../_images/slave-simulator_2.png

The simulated CoE can be changed here.

EEPROM Tab
../_images/slave-simulator_3.png

The simulated EEPROM can be changed here.

Register Tab
../_images/slave-simulator_4.png

The simulated Registers can be changed here.

5.4. Export ENI

To run the EC-Master you basically need an EtherCAT-Network-Information (ENI) file to initialize and control an EtherCAT network. After configuring the EtherCAT network with EC-Engineer, you can export this ENI file and copy it on the control system to run the EC-Master.

Note

The EtherCAT-Network-Information (ENI) File will be generated according to ETG.2100 standard V1.0.1

5.5. Export EXI

To run the EC-Simulator you basically need an ENI or better an EXI file to simulate an EtherCAT network. After configuring the EtherCAT network with EC-Engineer, you can export this EXI file and use it to start the EC-Simulator. The EXI and Simulator functions has to be activated in the Menu View –> Simulator Tabs.