Beckhoff EPP3504-0023 Short Manual page 121

Code Function
B In the example chosen (EL3102) the
EL3102 comprises two analogue input
channels that transmit a single function
status for the most recent cycle.
C For every EtherCAT Slave that has cyclic
process data, the Master displays, using
what is known as a WorkingCounter,
whether the slave is participating
successfully and without error in the cyclic
exchange of process data. This important,
elementary information is therefore
provided for the most recent cycle in the
System Manager
1. at the EtherCAT Slave, and, with
identical contents
2. as a collective variable at the
EtherCAT Master (see Point A)
for linking.
D Diagnostic information of the EtherCAT
Master which, while it is represented at the
slave for linking, is actually determined by
the Master for the Slave concerned and
represented there. This information cannot
be characterized as real-time, because it
• is only rarely/never changed, except
when the system starts up
• is itself determined acyclically (e.g.
EtherCAT Status)
Diagnostic information
It is strongly recommended that the diagnostic information made available is evaluated so that the
application can react accordingly.
CoE Parameter Directory
The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave
concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively
complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. EL3102, CoE
directory:
EPP3504-0023
Implementation
Status
• the bit significations may be
found in the device
documentation
• other devices may supply
more information, or none that
is typical of a slave
WcState (Working Counter)
0: valid real-time communication in
the last cycle
1: invalid real-time communication
This may possibly have effects on
the process data of other Slaves
that are located in the same
SyncUnit
State
current Status (INIT..OP) of the
Slave. The Slave must be in OP
(=8) when operating normally.
AdsAddr
The ADS address is useful for
communicating from the PLC/task
via ADS with the EtherCAT Slave,
e.g. for reading/writing to the CoE.
The AMS-NetID of a slave
corresponds to the AMS-NetID of
the EtherCAT Master;
communication with the individual
Slave is possible via the port (=
EtherCAT address).
NOTE
Version: 1.2
Commissioning on EtherCAT Master
Application/evaluation
• Perform an OnlineScan
In order for the higher-level PLC task (or
corresponding control applications) to be
able to rely on correct data, the function
status must be evaluated there. Such
information is therefore provided with the
process data for the most recent cycle.
In order for the higher-level PLC task (or
corresponding control applications) to be
able to rely on correct data, the
communication status of the EtherCAT Slave
must be evaluated there. Such information is
therefore provided with the process data for
the most recent cycle.
Information variables for the EtherCAT
Master that are updated acyclically. This
means that it is possible that in any particular
cycle they do not represent the latest
possible status. It is therefore possible to
read such variables through ADS.
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