EtherCAT

This screen is avalable only if EtherCAT is available in the servo amplifier.

Bit 16 (0x10000) in the DRVCNFG3 parameter influences how the servo amplifier books into the EtherCAT bus:

If bit 16 is set, the ESI file Danaher_S300_S400_S600_S700.xml will be used.
If bit 16 is not set, the file Kollmorgen_S300_S700.xml will be used by the master.

This screen monitors:

the current communication phase in the communication state
the selected cyclic actual and command mapping
the status of the CAN-over-EherCAT state machine

You can set several EtherCAT specific settings (see SERCSET). The current communication cycle time can be set/read in steps of 250µs. The cycle time is usually set by the EtherCAT control during the phase start (see PTBASE).

EtherCAT-PDO-Mapping

The EtherCAT-PDO Mapping page provides the possibility of visually displaying the currently active EtherCAT PDO configuration. The PDO configuration is basically specified by the EtherCAT control and therefore cannot be modified on the amplifier side.

The PDO mapping representation consists of two tables, each with 6 columns and 16 rows. The left table represents the receiving direction of the amplifier, the right table corresponds to the transmission direction. In the title row of the table is the number of the PDO mapping in the form 0x1234.

Each row in the table corresponds to an entry in the PDO configuration.

The individual columns of the table have the following meaning:

SDO/PDO-Index
SDO/PDO-Subindex
Width of date in bits
Comment (internal descriptor of SDO/PDO)
The last received/sent numerical value of the SDO/PDO
Form of representation of the numerical value as a letter
H – hexadecimal (numeric representation $0123456789ABCDEF)
B – binary (bits 16…31) (numeric representation %0101010101010101)
b – binary (bits 0…15) (numeric representation 010 1010101010101%)
D – decimal (numeric representation #0123456789)

By clicking on the letter in the last column, you can switch between different representations of the numerical value.

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