Appendix B: Backward Compatibility 64 (114)
Keywords
The ESI-file generator is up to date with the following differences between the 30-series and the
40-series.
The Product Code, Revision Number and Product Name must be updated to reflect the current
module. Note: These values can be changed via the EtherCAT object (F5h) and the ESI-file
values must match the EtherCAT object values.
<Type ProductCode="#x00000036" RevisionNo="#x00020001">
CompactCom 40 EtherCAT</Type>
The EtherCAT state transition timeouts must be present in the ESI-file per the latest
specification. Note: These timeout values can be change via the EtherCAT object (F5h) and the
ESI-file values must match the EtherCAT object values.
<StateMachine>
<Timeout>
<PreopTimeout>1000</PreopTimeout>
<SafeopOpTimeout>5000</SafeopOpTimeout>
<BackToInitTimeout>1000</BackToInitTimeout>
<BackToSafeopTimeout>200</BackToSafeopTimeout>
<Timeout>
</StateMachine>
The sync manager start addresses have been changed in the 40-series, and the sync manager
sizes are now configurable in the EtherCAT configuration tool.
<Sm MinSize="34" MaxSize="1486" DefaultSize="276" StartAddress="#x4000"
ControlByte="#x26" Enable="1">MBoxOut</Sm>
<Sm MinSize="34" MaxSize="1486" DefaultSize="276" StartAddress="#x4800"
ControlByte="#x22" Enable="1">MBoxIn</Sm>
<Sm StartAddress="#x2800" ControlByte="#x20" Enable="1">Inputs</Sm>
The 40-series supports File over EtherCAT (FoE) and this must be reflected in the ESI-file. If
FoE is disabled in the EtherCAT host object, this keyword must be removed from the ESI-file.
<FoE/>
Since the 40-series is using the HMS slave controller, the EEPROM byte size and the SII
configuration data must be changed according to the following settings.
<ByteSize>384</ByteSize>
<ConfigData>80360046F4010000000000000000</ConfigData>
The 40-series supports the boot strap state, and requires the following keyword.
<BootStrap>0040000400480004</BootStrap>
Anybus
®
CompactCom
™
M40 Hardware Design Guide HMSI-216-126 EN 2.6
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