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With so-called "intelligent" EtherCAT devices, the process data information is also available in the CoE direc-
tory. However, any changes in this CoE directory which lead to deviating PDO settings prevent the slave
from booting successfully. It is not recommended to configure other than the intended process data, since
the device firmware (if available) is tuned to these PDO combinations.
Object list:
-
Index
objectindex PDO
-
Subindex
subindex PDO
-
Name
surname of PDO
-
Flag RW
read or write status of PDO
-
Flag RO
read only status of PDO, it is not possible to write data to the object
-
Flag P
an additional P characterizes the object as a process data object
-
Value
value of the object
7.4 EtherCAT device profiles (ESI)
The 'ESI file (CoE directory) is provided by the manufacturer of an EtherCAT device.
It is created in the description language XML and has a standardized format for the description of devices.
The ESI file contains information about:
-
Description of the file (name, version, creation date, etc.)
-
General device information (manufacturer name and code)
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Device name and type, versions
-
Description of the supported objects by their attributes
Localization in the EtherCAT Slave:
The CoE directory as a parameter system must be administrated in the device in the firmware (FW) in the
local controller. This is the so-called online directory, because it is only available to the user if the EtherCAT
slave is in operation with operating voltage supplied and, if applicable, can be manipulated via EtherCAT
communication. So that the parameters can be viewed and changed in advance without the presence of a
slave, a default copy of the entire directory is usually stored in the device description file ESI (XML). This is
called the offline directory. Changes in this directory do not affect the later operation of the slave with Twin-
CAT.
The ESI description also defines the process image, the communication type between master
and slave/device and the device functions, if applicable. The physical device (firmware,
if available) has to support the communication queries/settings of the master. This is backward
compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT
master addresses them as an older revision.
The ranges in the Slave CoE that are important for the application-oriented EtherCAT fieldbus user are
• 0x1000: This is where fixed identity information for the device is stored, including name, manufacturer,
serial number etc., plus information about the current and available process data configurations.
• 0x8000: This is where the operational and functional parameters for all channels are stored,
such as filter settings or output frequency. The following ranges are also of interest
• 0x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the
0x8000 range).
• 0x6000: Input PDOs ("input" from the perspective of the EtherCAT master)
• 0x7000: Output PDOs ("output" from the perspective of the EtherCAT master)
This device series uses a universal gateway in which all data is transferred to the input PDO and output PDO
area. The parameterization of individual parameters can also be done by this. This keeps the interfaces com-
patible with other fieldbus topologies.
Page 47 of 70
POS-124-U
24.01.2022
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