4. Configuration
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also change the value of the wDCInSyncWindow variable, configuring the maximum jitter allowed on
the synchronization between master and slaves.
Use LRW instead of LWR/LRD: Activating this option enables the Slave-to-Slave communication
because, instead of using separated reading (LRD) and write (LWR) commands, combined
reading/writing (LRW) commands will be used.
Auto Restart Slaves: By enabling this option, the Master will restart the Slaves as soon as the
communication is aborted, so, the bError EtherCAT Master diagnostic in the Diagnostic GVL won’t
go to TRUE.
Image In Address and Image Out Address: These definitions can only be edited if the Autoconfig
mode is disabled, otherwise this will be done automatically and this parameter will be invisible.
Diagnostics Message: it shows some information or error messages from the stack. The messages
are also logged in the PLC Log Tab, access through the Device icon in the Device Tree. This option
is only visible when the EtherCAT Master is online.
Bus Load: This value shows the busload on the network adapter (0 – 100%). This option is only
visible when the EtherCAT Master is online.
I/O Mapping
This EtherCAT Master configuration editor tab offers the possibility to assign the project variables to
its corresponding EtherCAT inputs and outputs. Thus, the EherCAT Master variables can be
controlled by User Application.
Furthermore, it’s possible to choose which task the Bus Cycle Task will use, through the options in
the selection list. This task serves to do the EtherCAT Master operations. MainTask is the default
option of this field.
Figure 4-52. I/O Mapping Dialog
Status and Information Tabs
The Status tab of the EtherCAT Master configuration editor provides status information (e.g.
‘Running’, ‘Stopped’) and diagnostic messages specific of the device and the internal bus system.
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General