Control Techniques Nidec SI-EtherCAT User Manual page 138

When the input consistency is enabled in Consistency trigger for non-synchronous inputs
(S.00.042), this configured parameter is used to control the data exchange, ensuring skew does not
occur; a user program, etc, must check the configured parameter is 0 before writing the data to be
transmitted over the EtherCAT network, and it should set the parameter to 1 after all the data has
been written.
The EtherCAT Module will check that the parameter is 1 before reading TxPDO sources and will set
the parameter to 0 after the TxPDO sources have been read.
Table 9-33 Home position save
S.00.045
Minimum
Default
Type
Display Format
Coding
Used to control if Homing Position is saved and used at start-up, see Homing Position Parameter
(S.00.046) for details.
Table 9-34 Homing position parameter
S.00.046
Minimum
Default
Type
Display Format
Coding
The SI-EtherCAT module provides a method to save the absolute home position. This parameter is
used to define the parameter in menu 18 that is used to save the homing position. This is limited to
the 32 bit power-down save parameters. For example, a value of 51means the power-down save
long integer parameter Pr 18.051 will be used to save the home position.
The defined parameter will be updated at the end of homing and then read on initialisation as the
Homing Position if Homing Position Save (S.00.045) is set to true.
Table 9-35 FSoE Black Channel enable
S.00.047
Minimum
Default
Type
Display Format
Coding
The EtherCAT module evaluates this parameter during the reset: if it set to "On", the black channel
is enabled, starting the handshake communication with the MiS2x0 safety module. If the parameter
value is "Off" during reset, no FSoE functionalities are available and no related constraints apply.
The status of this parameter doesn't indicate if the exchange of the FSoE frames with
NOTE
the MiS2x0 module is active: the FSoE Black Channel State (S.01.006) shall be
referred instead.
Any changes to this parameter have no effect if the module is not reset.
For more safety related information, refer to MiS2x0 safety module user guide.
138
Homing Position Save
0 (Display: 0.00.000) Maximum
0 (Display: 0.00.000) Units
1 bit User Save Update Rate
Bit Decimal Places
RW, Bit
Homing Position Parameter
51 Maximum
51 Units
8 bit User Save Update Rate
None Decimal Places
RW
FSoE Black Channel enable
0 (Display: Off) Maximum
0 (Display: Off) Units
1 bit User Save Update Rate
Standard Decimal Places
RW, PT
1 (Display: On)
None
Read in background
0
54
None
Read in background
0
1 (Display: On)
None
Read in reset
0
SI-EtherCAT User Guide