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Changes for page 07 EtherCAT

Last modified by Iris on 2026/04/15 16:37
From version 4.1
edited by Iris
on 2026/04/15 16:37
Change comment: There is no comment for this version
To version 2.1
edited by Iris
on 2026/03/30 17:52
Change comment: There is no comment for this version

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... ... @@ -62,7 +62,7 @@
62 62  [[image:1744341765726-520.png]]
63 63  
64 64  
65 -=== **Slave station parameters** ===
65 +=== ** Slave station parameters** ===
66 66  
67 67  [[image:1744341765727-592.png]]
68 68  
... ... @@ -253,13 +253,9 @@
253 253  
254 254  In monitoring mode, click on the EtherCAT device interface in the project management interface.
255 255  
256 -(% style="text-align:center" %)
257 -[[image:1774921706980-630.png||height="388" width="320"]]
258 258  
259 259  At this time, the following interface appears. Different from the non-monitoring mode, [Write EEprom] appears. This button writes the alias to the corresponding servo.
260 260  
261 -(% style="text-align:center" %)
262 -[[image:1774921736912-237.png]]
263 263  
264 264  The execution rules for this key are:
265 265  
... ... @@ -268,34 +268,31 @@
268 268  Before OP, (SM1902 OFF) is aliased according to the link sequence Regardless of whether the model corresponds or not, set it directly. If there is no correspondence, the setting will fail.
269 269  
270 270  
271 -**Simple configuration instance**
272 272  
268 +=== **Simple configuration instance** ===
269 +
270 +
273 273  When an EtherCAT device configuration exists, open the EtherCAT configuration of the corresponding slave station.
274 274  
275 275  1Check [Start Expert Parameters] and [Alias Enable], and then configure the corresponding alias to be written into the "Alias Address"; 2 Save the configuration and download it to Run in PLC;
276 276  
277 -(% style="text-align:center" %)
278 -[[image:1774921785975-984.png]]
279 279  
280 280  When the link sequence corresponds, the corresponding servo can still be matched. 3Open the software device monitoring interface and observe that SM1902 is ON;
281 281  
282 -Open the EtherCAT configuration interface, click [Write EEprom], and write the alias to Servo;
278 +4 Open the EtherCAT configuration interface, click [Write EEprom], and write the alias to Servo;
283 283  
284 -(% style="text-align:center" %)
285 -[[image:1774921849319-426.png]]
286 286  
287 -(% style="text-align:center" %)
288 -[[image:1774921877348-328.png]]
289 289  
282 +
283 +
290 290  Restart the servo and PLC can be matched by alias.
291 291  
292 -(% style="text-align:center" %)
293 -[[image:1774921899334-213.png||height="228" width="362"]]
294 294  
295 295  Then check [Device optional] in edit mode.
296 296  
297 -[[image:1774921964285-625.png]]
298 298  
290 +
291 +
299 299  After removing the linked EtherCAT device and re-downloading the ladder diagram that checks the optional device, the ladder diagram can still start normally. However, MC_POWER corresponding to the axis cannot be started (but no error will be reported), and the IO mapping does not work.
300 300  
301 301  In the same ladder diagram, connect the corresponding equipment, and then stop->run. The corresponding device of run PLC can be used normally.
... ... @@ -303,9 +303,9 @@
303 303  
304 304  === **Expert parameters** ===
305 305  
306 -(% style="text-align:center" %)
307 -[[image:1774922011354-552.png]]
308 308  
300 +
301 +
309 309  . Select ① Synchronization Manager table area, select input and output, ② PDO allocation table area will be updated to synchronization manager output or the PDO allocation list corresponding to input;
310 310  
311 311  . Check or uncheck “enable ② PDO allocation table area”, which will be fed back to the ③ PDO list;. Select the checked row in the ③ PDO list to update the ④ PDO content table;
... ... @@ -319,22 +319,18 @@
319 319  
320 320  The process data interface is basically consistent with the expert process parameter functions except that PDO content cannot be customized.
321 321  
322 -(% style="text-align:center" %)
323 -[[image:1774922053648-913.png]]
324 324  
316 +
325 325  === **I/O Mapping** ===
326 326  
327 327  
328 328  For PDO content set by process parameters, you can select device or variables to map.
329 329  
330 -(% style="text-align:center" %)
331 -[[image:1774922078808-508.png]]
332 332  
333 333  === **Start Parameters** ===
334 334  
335 -(% style="text-align:center" %)
336 -[[image:1774922137069-776.png]]
337 337  
326 +
338 338  ① Add
339 339  
340 340  Right-click the menu to select [Add] or directly click [Add] to enter the interface for adding startup parameters, select the corresponding item, and add startup parameters. ② Delete
... ... @@ -341,13 +341,16 @@
341 341  
342 342  After selecting the parameter content to be deleted, right-click the menu to select delete or directly click “Delete”.
343 343  
333 +
334 +
335 +
344 344  === **Slave station information** ===
345 345  
338 +
346 346  Display slave station information.
347 347  
348 -(% style="text-align:center" %)
349 -[[image:1774922176699-927.png]]
350 350  
342 +
351 351  === **Device scanning** ===
352 352  
353 353  EtherCAT's device scanning supports direct scanning after connecting or unloading the device.
... ... @@ -379,243 +379,4 @@
379 379  (% style="text-align:center" %)
380 380  [[image:1774864251046-293.jpeg]]
381 381  
382 -== **EtherCAT instruction** ==
383 -
384 -=== **ETC_READPARAMETER_COE** ===
385 -
386 -[[image:1774922271272-193.png]]
387 -
388 -This function is mainly used to read the SDO parameters of the servo.
389 -
390 -**Content, range, data type**
391 -
392 -|**Instruction**|**Pin type**|**Parameter**|**Variable type**|**Can be empty or not**|**Range**|**Description**
393 -|(% rowspan="12" %)ETC_READPARAMETER_COE|(% rowspan="5" %)Input|Enable|BOOL|No|TRUE/FALSE|Read Servo SDO enable
394 -|SlaveID|WORD|No|0 to range of EtherCAT slaves that can be linked|Set according to the ID configured in the interface. If the device is optional, an error will be reported even if the device does not actually exist
395 -|Index|WORD|No|0 to 65535|Index, fill in according to the information provided by the servo
396 -|SubIndex|WORD|No|0 to 65535|Sub-index, fill in according to the information provided by the servo
397 -|DstLength|WORD|No|-|Data length, fill in according to the information provided by the servo.
398 -|(% rowspan="7" %)Output|Done|BOOL|Yes|TRUE/FALSE|When the value is obtained, Done will be set to TRUE, and if Done is not read, it will be set to FALSE
399 -|Busy|BOOL|Yes|TRUE/FALSE|Busy is TRUE during reading
400 -|RelLength|WORD|Yes|-|Actual length
401 -|Data|DWORD|Yes|-|Read data
402 -|AbrotCode|DWORD|Yes|TRUE/FALSE|Interrupt code returned by the servo, refer to the EtherCAT standard document for information
403 -|Error|BOOL|Yes|TRUE/FALSE|Error
404 -|ErrorID|DWORD|Yes|See error code for details|Error code
405 -
406 -**Device used**
407 -
408 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="22" %)**Device**|**Offset modification**|**Double word extension**|**Pulse-type expansion**
409 -|**X**|**Y**|**M**|**S**|**SM**|**T(Bit)**|**HSC(Bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**DXX**|**XXP**
410 -|(% rowspan="12" %)(((
411 -ETC_READ
412 -
413 -PARAMETER_COE
414 -)))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |
415 -|SlaveID| | | | | | | | | | | | | | | | | | | | | | | | |
416 -|Index| | | | | | | | | | | | | | | | | | | | | | | | |
417 -|SubIndex| | | | | | | | | | | | | | | | | | | | | | | | |
418 -|DstLength| | | | | | | | | | | | | | | | | | | | | | | | |
419 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
420 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
421 -|RelLength| | | | | | | | | | | | | | | | | | | | | | | | |
422 -|Data| | | | | | | | | | | | | | | | | | | | | | | | |
423 -|AbrotCode| | | | | | | | | | | | | | | | | | | | | | | | |
424 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
425 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |
426 -
427 -* Used to read the address values of the servo index and subindex, with the correct length.
428 -* Function:
429 -
430 -① When Enable is continuously set to ON, it will continuously read the SDO value into Data. Upon receiving a value, it will set Done to ON and append the new value to Data. If no value is read, Done will be set to OFF.
431 -
432 -② When Enable is triggered by an edge, it will read data once. During this process, Busy is TRUE. After reading the data, it will write the obtained value to Data, at which point Done will be set to ON.
433 -
434 -③ If the corresponding slave cannot be found after Enable is triggered, a 0x27c3 error will be reported.
435 -
436 -④ If the corresponding index, sub-index, or length is incorrect after Enable is triggered, an error will occur. The specific error needs to be checked according to AbrotCode.
437 -
438 -**✎Note：**Reading data takes time, and reading too much data at once will take a long time to update the data.
439 -
440 -**Error code**
441 -
442 -|**Error code**|**Content**
443 -|0x27c3|Axis not found (Check if the input parameters are correct)
444 -|0x27D8|SDO access length error (Check the length used in SDO read and write instructions)
445 -|0x27CD|SDO read error. Check the address, retry the write operation, or increase the timeout period.
446 -|0x27CC|SDO write error. Check the address, retry the write operation, or increase the timeout period.
447 -
448 -**Example**
449 -
450 -[[image:1774922271273-764.png]]
451 -
452 -Read the value from Index 0x6064, Subindex 0, with a length of 2, and display the read value in the Data field.
453 -
454 -
455 -**ETC_WRITEPARAMETER_COE**
456 -
457 -[[image:1774922271274-351.png]]
458 -
459 -This function is mainly used to write SDO parameters to the servo drive.
460 -
461 -**Content, range, data types**
462 -
463 -|**Instruction**|**Pin type**|**Parameter**|**Variable type**|**Can be empty or not**|**Range**|**Description**
464 -|(% rowspan="10" %)ETC_WRITEPARAMETER_COE|(% rowspan="5" %)Input|Enable|BOOL|No|TRUE/FALSE|Read Servo SDO enable
465 -|SlaveID|WORD|No|0 to range of EtherCAT slaves that can be linked|Set according to the ID configured in the interface. If the device is optional, an error will be reported even if the device does not actually exist
466 -|Index|WORD|No|0~~65535|Index, fill in according to the information provided by the servo
467 -|SubIndex|WORD|No|0~~65535|Sub-index, fill in according to the information provided by the servo
468 -|DstLength|WORD|No|-|Data length, fill in according to the information provided by the servo.
469 -|(% rowspan="5" %)Output|Done|BOOL|Yes|TRUE/FALSE|When the value is obtained, Done will be set to TRUE, and if Done is not read, it will be set to FALSE
470 -|Busy|BOOL|Yes|TRUE/FALSE|Busy is TRUE during reading
471 -|AbrotCode|DWORD|Yes|TRUE/FALSE|Interrupt code returned by the servo, refer to the EtherCAT standard document for information
472 -|Error|BOOL|Yes|TRUE/FALSE|Error
473 -|ErrorID|DWORD|Yes|See error code for details|Error code
474 -
475 -**Device used**
476 -
477 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="22" %)**Device**|**Offset modification**|**Double word extension**|**Pulse-type expansion**
478 -|**X**|**Y**|**M**|**S**|**SM**|**T(Bit)**|**HSC(Bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**DXX**|**XXP**
479 -|(% rowspan="10" %)(((
480 -ETC_WRITE
481 -
482 -PARAMETER_COE
483 -)))|Enable|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |
484 -|SlaveID| | | | | | | | | | | | | | | | | | | | | | | | |
485 -|Index| | | | | | | | | | | | | | | | | | | | | | | | |
486 -|SubIndex| | | | | | | | | | | | | | | | | | | | | | | | |
487 -|DstLength| | | | | | | | | | | | | | | | | | | | | | | | |
488 -|Done| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
489 -|Busy| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
490 -|AbrotCode| | | | | | | | | | | | | | | | | | | | | | | | |
491 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
492 -|ErrorID| | | | | | | | | | | | | | | | | | | | | | | | |
493 -
494 -* Used to read the address values of the servo index and subindex, with the correct length.
495 -* Function:
496 -
497 -① When Enable is continuously set to ON, it will continuously read the SDO value into Data. Upon receiving a value, it will set Done to ON and append the new value to Data. If no value is read, Done will be set to OFF.
498 -
499 -② When Enable is triggered by an edge, it will read data once. During this process, Busy is TRUE. After reading the data, it will write the obtained value to Data, at which point Done will be set to ON.
500 -
501 -③ If the corresponding slave cannot be found after Enable is triggered, a 0x27c3 error will be reported.
502 -
503 -④ If the corresponding index, sub-index, or length is incorrect after Enable is triggered, an error will occur. The specific error needs to be checked according to AbrotCode.
504 -
505 -**✎Note**：Reading data takes time, and reading too much data at once will take a long time to update the data.
506 -
507 -**Error code**
508 -
509 -|**Error code**|**Content**
510 -|0x27c3|Corresponding slave station not found (Check if the input parameters are correct)
511 -|0x27D8|SDO access length error (Check the length used in SDO read and write instructions)
512 -|0x27CD|SDO read error. Check the address, retry the write operation, or increase the timeout period.
513 -|0x27CC|SDO write error. Check the address, retry the write operation, or increase the timeout period.
514 -
515 -**Example**
516 -
517 -[[image:1774922271275-534.png]]
518 -
519 -Write the value 131072 to the address of index 0x6091, subindex 1 and data length 4, read it back via the ETC_READPARAMETER_COE.
520 -
521 -=== **IODRVETHERCAT** ===
522 -
523 -[[image:1774922271276-492.png]]
524 -
525 -This function is mainly used to start, restart, and shut down the EtherCAT bus.
526 -
527 -**Content, range, data type**
528 -
529 -|**Instruction**|**Pin type**|**Parameter**|**Variable type**|**Can be empty or not**|**Range**|**Description**
530 -|(% rowspan="6" %)(((
531 -IODRV
532 -
533 -ETHERCAT
534 -)))|(% rowspan="2" %)Input|Restart|BOOL|No|TRUE/FALSE|Trigger restart/start of the EtherCAT bus
535 -|StopBus|BOOL|No|TRUE/FALSE|Trigger shutdown of the EtherCAT bus
536 -|(% rowspan="4" %)Output|ConfigFinished|BOOL|Yes|TRUE/FALSE|Configuration completed (TRUE)
537 -|DistributedClockInSync|BOOL|Yes|TRUE/FALSE|Sync clock initialization completed (TRUE)
538 -|Error|BOOL|Yes|TRUE/FALSE|Error occurred (TRUE)
539 -|SyncInWindow|BOOL|Yes|See error code for details   |Sync window initialization completed (TRUE)
540 -
541 -**Device used**
542 -
543 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="22" %)**Device**|**Offset modification**|**Double word extension**|**Pulse-type expansion**
544 -|**X**|**Y**|**M**|**S**|**SM**|**T(Bit)**|**HSC(Bit)**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**SD**|**LC**|**HSC**|**K**|**H**|**E**|**[D]**|**DXX**|**XXP**
545 -|(% rowspan="6" %)(((
546 -IODRV
547 -
548 -ETHERCAT
549 -)))|Restart|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |
550 -|StopBus|●|●|●|●|●| | | | | | | | | | | | | | | | | | | |
551 -|ConfigFinished| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
552 -|(((
553 -Distributed
554 -
555 -ClockInSync
556 -)))| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
557 -|Error| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
558 -|SyncInWindow| |●|●|●|●| | | | | | | | | | | | | | | | | | | |
559 -
560 -* This function is mainly used to start, restart, and shut down the EtherCAT bus.
561 -* Function：
562 -
563 -① Setting Restart to TRUE or triggering it on a rising edge will execute the EtherCAT bus restart procedure. ConfigFinished, DistributedClockInSync, and SyncInWindow will be set to TRUE according to the initialization order. An initialization exception (Error) will be set to TRUE.
564 -
565 -② Setting StopBus to TRUE will shut down the EtherCAT bus. ConfigFinished, DistributedClockInSync, and SyncInWindow will be set to FALSE.
566 -
567 -③ Setting both Restart and StopBus to TRUE simultaneously will be considered an exception, and Error will be set to TRUE. The error code will be output from the PLC error address.
568 -
569 -**✎Note: **Reading data takes time, and reading too much data at once will take a long time to update the data.
570 -
571 -**Error code**
572 -
573 -|**Error code**|**Content**
574 -|0x27c3|Corresponding slave station not found (Check if the input parameters are correct)
575 -|0x27D8|SDO access length error (Check the length used in SDO read and write instructions)
576 -|0x27CD|SDO read error. Check the address, retry the write operation, or increase the timeout period.
577 -|0x27CC|SDO write error. Check the address, retry the write operation, or increase the timeout period.
578 -
579 -**Example**
580 -
581 -[[image:1774922271276-525.png]]
582 -
583 -Setting Restart to TRUE starts the EtherCAT master, and SM1902 is set to TRUE after successful startup.
584 -
585 -[[image:1774922271277-338.png]]
586 -
587 -Setting StopBus to TRUE shuts down the EtherCAT master, and SM1902 is set to FALSE synchronously.
588 -
589 -**AbrotCode exception codes**
590 -
591 -|**AbrotCode exception codes**|**Corresponding exception**
592 -|0x00000000|No SDO error
593 -|0x05030000|Toggle bit not changed
594 -|0x05040000|SDO timeout
595 -|0x05040001|Instruction specifier unknown
596 -|0x05040005|Insufficient memory event explanation
597 -|0x06010000|Access not supported
598 -|0x06010001|Write-only entry
599 -|0x06010002|Read-only entry
600 -|0x06010003|Entry cannot be written because Subindex 0 is not 0
601 -|0x06010004|Object cannot be accessed
602 -|0x06020000|Object does not exist
603 -|0x06040041|Object cannot be mapped to PDO
604 -|0x06040042|Mapped object exceeds PDO
605 -|0x06040043|Parameter incompatible
606 -|0x06040047|Device incompatible
607 -|0x06060000|Hardware error
608 -|0x06070010|Parameter length error
609 -|0x06070012|Parameter too long
610 -|0x06070013|Parameter too short
611 -|0x06090011|Subindex (entry) does not exist
612 -|0x06090030|Value exceeded
613 -|0x06090031|Value too large
614 -|0x06090032|Threshold too small
615 -|0x06090033|Detected module identification list (0xF030) does not match configured module identification list
616 -|0x06090036|Less than minimum value
617 -|0x08000000|General error
618 -|0x08000020|Data not readable/writable event explanation
619 -|0x08000021|Data inaccessible due to local control
620 -|0x08000022|Event explanation: unable to read or write data in current state
621 -|0x08000023|Object not in object dictionary
374 +
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