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Manual modification of the process data
According to the ESI description, a PDO can be identified as "fixed" with a flag "F" in the PDO over-
view (see previous illustration, J). The configuration of such PDOs cannot be changed, even if Twin-
CAT 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 configuration the EtherCAT slave usually refuses to start and
change to OP state. The System Manager displays an "invalid SM cfg" logger message:
`Box 1 (EP3356)` (0022): state change aborted (requested ‚SAFEOP`, back to ‚PREOP`), `Box1
(EP3356)` (0022): `PREOP to SAFEOP`failed! Error: `check device state for SAFEOP`, AL Status
`0x0012`read and 0x0004` expected. AL status code `0x001e – invalid SM IN cfg` This error mes-
sage „invalid SM IN cfg" or „invalid SM OUT cfg" provides an indication of the reason for the failed
start.
6.4
Configuration via TwinCAT
In the left-hand window of the TwinCAT System Manager, click on the branch of the EtherCAT Box you wish
to configure (EP2816-0008 in this example).
Fig. 55: Branch of the EtherCAT box to be configured
In the right-hand window of the TwinCAT System manager, various tabs are now available for configuring
the EtherCAT Box.
General tab
Fig. 56: General tab
EP3356-0022
Version: 1.1.0
Commissioning/Configuration
59
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