Slave Interface Settings

AutoInc address

-65535 … 0

Auto-incrementing address (16-bit) is determined by the position of the slave in the configured topology.

The address is only used when booting the system if the master maps the EtherCAT address to the connected slaves. When the first telegram passes through the slave for address assignment, the AutoInc increases each respective slave address by 1. The slave with address 0 then receives the data. The automatically mapped addresses can only be changed if the “Master/Slave Autoconfig” option is disabled in the interface settings of the master.

EtherCAT address

1 … 65535

The physical address of the slave is mapped when booting the master.

The address is not necessarily tied to the position of the slave in the network.

Expert settings

Displays additional setting options for startup validation and time tracking in the lower area

In the EtherCAT fieldbus configurator the “Process Data Expert Mode” Tab is additionally available.
The “Online” Tab for using FoE and the “EoE” Tab are also displayed (if EoE and FoE are also supported by the device).

Expert settings are not required for standard applications.

Only displays address and synchronization settings

Optional

Only available of the “Autoconfig Master/Slaves” option is enabled in the interface settings of the EtherCAT master and the function is supported by the EtherCAT slave.

Defines the slave as optional.

No error messages are generated if the device is not in the bus system.

Note: If you define a slave as “Optional”, it must have a unique ID. You can make this setting in the “Identification” area.

If the device is not available, error messages are generated.

Select distributed clocks

Selects the settings for distributed clocks from a list

The settings result from the respective device description file.
Can be selected if the device description files contain information.

Enable

The master clock synchronizes data exchange in the network. The cycle time (see “Sync-Unit Cycle” parameter below) is determined by the cycle time of the master.

The “Distributed Clocks” function is disabled. There is no synchronization.

Sync unit cycle (μs)

Display of the cycle time for data exchange

The cycle time is determined by the cycle time of the master and can be changed in the master interface settings (“Distributed Clocks” > “Cycle Time”).

Enable Sync 0/1

Synchronization unit Sync0 or Sync1 is used.

A synchronization unit describes a set of process data that is exchanged synchronously.

No synchronization unit is used.

Sync Unit Cycle

/ 16 … 1;
× 1 … 16

Master cycle time multiplied by the selected factor of the selection list is used as the synchronization cycle time for the slave.

Cycle time (µs)

Displays the current cycle time set

The time can be changed if the “User-defined” option is enabled.

Note: If you make changes at this point, the cycle time is automatically transferred as an interval to the selected bus cycle task. Note that a changed interval in the selected bus cycle task is not automatically applied in this dialog. In this case, manually adjust the cycle time at this point.

Shift time (μs)

Time between “Sync Event” and “Outputs Valid” or “Input Latch”

User-defined

The required cycle time can be entered in the “Cycle time (µs)” field.

The following areas are only displayed if “Expert settings” (see above) is enabled:

Check vendor ID/ Check product ID

During boot up the system checks the manufacturer ID and/or product ID of the device against the current configuration setting (enabled by default)

If they do not match, the bus is stopped to prevent loading faulty configurations onto the bus system.

The manufacture ID and product ID are not checked.

Check revision number

The revision number is checked when booting the system. The revision number is checked based on the entry selected in the selection list over the entire printout or over the front/back of the number (Low-Word (LW) / High-Word (HW)):

• ==
• >=
• LW ==
• LW ==, HW >=
• HW ==
• HW ==, LW >=

The revision number is not checked.

Download expected slot configuration

The configured and actual module configurations are compared. If the configurations do not match, the device is still set to “Run”. An entry is made in the device logbook.

No comparison is made.

By default, no timeout is defined for the following actions. However, a respective timeout time can be specified in milliseconds:

SDO access (ms)

0 … 100000

Sends the SDO list at system startup

I → P (ms)

0 … 100000

Switches from “Init” mode to “Preoperational” mode

P → S / S → O (ms)

0 … 100000

Switches from “Preoperational” mode to “Safe Operational” mode or from “Safe Operational” mode to “Operational” mode

One or more options regarding the functionality of distributed clocks can be enabled that are to be used on the local microprocessor. The check is performed in the registry 0x980 in the EtherCAT slave.

Cycle unit

The slave performs the check.

Latch unit 0/1

Time of input/output check

Set multiplier
(Reg. 16#400)

Watchdogs, PDI (“Process Data Interface”) and SM (“SyncManager”) get their pulses from the local clock of the I/O module divided by the watchdog multiplier.

Multiplier is not set.

Set PDI watchdog (Reg. 16#410)

If there is no PDI communication with the EtherCAT slave controller longer than the active PDI watchdog time setting, the watchdog triggers.

The PDI watchdog is not set.

Set SM watchdog (Reg. 16#240)

If there is no EtherCAT process data communication with the I/O module longer than the active SM watchdog time setting, the watchdog triggers.

The SM watchdog is not set.

The device ID of the slave is set to make the address of the slave independent of its position in the bus.
The following options are only available if the “Enable Expert settings” or “Optional” options are enabled. If a slave is marked as “Optional”, the slave must be assigned a unique ID.

Disabled

-

The slave ID is not checked.

Configured station alias (ADO 0x0012)

-

Address saved on the device EEPROM

The value can be changed in online mode.

Value

1 … 65535

Expected value for the check. If the expected value does not match the actual value, an error is generated.

Explicit device identification (ADO 0x0134)

-

The device ID is permanently set on the hardware (e.g., via DIP switch). The ID is displayed in online mode as “Actual address”.

Data word (2 bytes)

-

A 2-byte value for identification is stored on the slave.

ADO (hex)

16#12

Initial value from the device description. The Data word option can be used to change this value.

Actual address

The actual address is the slave address displayed in online mode only.

The readout can be used to check the success of the “Write EEprom” command.

Diagnostic messages are displayed in online mode only.
Other diagnostic messages are available in the fieldbus configurator in the “Status” tab.

Diagnostic message

-

The “Diagnostics messages” field displays the status of the slave. Possible status include “Init”, “Pre-Operational”, “Save Operational” and “Operational”.

The “Operational” status indicates that the slave configuration was completed successfully and input/output process data is applied.

Bus load

0 ... 100 %

Indication of the bus load in percent