Commissioning
EL72x178 Version: 3.3
Fig.93: Configuring the process data
Note
Manual modification of the process data
According to the ESI description, a PDO can be identified as “fixed” with the flag “F” in the
PDO overview (Fig. “Configuring the process data”, J). The configuration of such PDOs
cannot be changed, even if TwinCAT offers the associated dialog (“Edit”). In particular, CoE
content cannot be displayed as cyclic process data. This generally also applies in cases
where a device supports download of the PDO configuration, “G”. In case of incorrect con-
figuration the EtherCAT slave usually refuses to start and change to OP state. The System
Manager displays an “invalid SM cfg” logger message: This error message (“invalid SM IN
cfg” or “invalid SM OUT cfg”) also indicates the reason for the failed start.
A detailed description [}83] can be found at the end of this section.
„Startup“ tab
The Startup tab is displayed if the EtherCAT slave has a mailbox and supports the CANopen over EtherCAT
(CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the
mailbox during startup. It is also possible to add new mailbox requests to the list display. The download
requests are sent to the slave in the same order as they are shown in the list.
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