Slot 3 Menu 0 − EtherCAT Setup

Mode: Open‑Loop

This menu provides some common fieldbus option parameters used for basic housekeeping and information.


Parameter3.00.001  Module ID
Short descriptionModule ID
Minimum0Maximum65535
Default Units 
Type16 Bit VolatileUpdate Rate 
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

The Module ID. EtherCAT = 435


Parameter3.00.002  Software Version
Short descriptionSoftware Version
Minimum0Maximum99999999
Default Units 
Type32 Bit VolatileUpdate RatePower up write
Display FormatVersionDecimal Places0
CodingRO, ND, NC, PT

Module firmware version in ww.xx.yy.zz format


Parameter3.00.003  Hardware version
Short descriptionHardware version
Minimum0.00Maximum655.35
Default Units 
Type16 Bit VolatileUpdate RatePower up write
Display FormatStandardDecimal Places2
CodingRO, ND, NC, PT, BU

Contains the module’s hardware version information in the format xx.yy.


Parameter3.00.004  Serial Number LS
Short descriptionSerial Number LS
Minimum0
(Display: 00000000)
Maximum99999999
(Display: 99999999)
Default Units 
Type32 Bit VolatileUpdate RatePower-up write
Display FormatLead Zero PadDecimal Places0
CodingRO, ND, NC, PT

The module serial number is available as a pair of 32 bit values where Serial Number LS (MM.004) provides the least significant 8 decimal digits and Serial Number MS (MM.005) provides the most significant 8 decimal digits. The reconstructed serial number is ((MM.005* 100000000) + MM.004). For example serial number "0001234567898765" would be stored as MM.005 = 12345, MM.004 = 67898765.


Parameter3.00.005  Serial Number MS
Short descriptionSerial Number MS
Minimum0Maximum99999999
Default Units 
Type32 Bit VolatileUpdate RatePower-up write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT

See Serial Number LS (MM.004).


Parameter3.00.006  Status
Short descriptionStatus
Minimum-2Maximum3
Default Units 
Type8 Bit VolatileUpdate RateBackground
Display FormatStandardDecimal Places0
CodingRO, TE, ND, NC, PT

ValueTextDescription
-2Bootldr - UpdateThe bootloader is performing a flash update
-1Bootldr - IdleThe bootloader is idle
0Initialising 
1OKModule is initialised with no errors present
2ConfigA configuration error has been detected
3ErrorAn error has occured preventing the module from running correctly


Parameter3.00.007  Reset
Short descriptionReset
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate RateRead every 200ms, Written to 0 on module initialisation
Display FormatStandardDecimal Places0
CodingRW, NC

When set the module performs a warm reset. When the reset has been performed and the module is performing its initialization routines the parameter will be cleared to zero. Note: The drive, and any other modules fitted to the drive will not be affected by the reset. If motion is currently be performed, and it is possible, the motor will be ramped to a stop before the reset occurs.


Parameter3.00.008  Default
Short descriptionDefault
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate RateRead every 200ms, Written to 0 on module initialisation
Display FormatStandardDecimal Places0
CodingRW, NC

If set to “ON” when the module is reset, this parameter will cause the option module to return to its "Out of Box configuration" any settings stored on the module will be returned to their default values. This will include the CoE object dictionary, if it is saved. Following the default the module will set the parameter to "OFF" and the module will reset.

Take care using this parameter as any configuration information will be irretrievably lost


Parameter3.00.031  Slot indicator
Short descriptionSlot the option is installed in
Minimum1Maximum8
Default Units 
Type8 Bit VolatileUpdate RatePower-up write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

The parameter displays the number of the virtual option slot on the drive that the module is connected to.  The values for the slots are 1 to 8, where the onboard slot is 4.


Parameter3.00.032  Slot menu number
Short descriptionThe menu for the slot
Minimum0Maximum255
Default Units 
Type8 Bit VolatileUpdate RatePower-up write
Display FormatStandardDecimal Places0
CodingRO, ND, NC, PT, BU

The parameter displays the menu number of the option slot on the drive.

Depending on the number of slots available, the following mapping applies:

Slot 1 – Menu 15

Slot 2 – Menu 16

Slot 3 – Menu 17

Slot 4 – Menu 24


Parameter3.00.033  Disable drive control
Short descriptionPrevent option from controlling drive.
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

In normal operation, at various points in EtherCAT and CiA402 operation, a number of drive parameter values will be modified by the option module (other parameters implicitly written by the CiA402 profile, etc).

Setting this parameter to 1 will request that control will be stopped. This will prevent an EtherCAT master from controlling the drive once the control word enable parameter is disabled. If the module is currently in OPERATION_ENABLED it will cause a Fault reaction to take place before the control word enable is disabled.

This parameter must be set back to 0 for normal operation.


Parameter3.00.034  Allow EEPROM Upgrade
Short descriptionPrevent the EtherCAT ASIC from controlling the EEPROM (disabling comms)
Minimum0Maximum1
Default0Units 
Type1 Bit VolatileUpdate RateBackground read
Display FormatStandardDecimal Places0
CodingRW

This allows the data in the EtherCAT configuration EEPROM to be upgraded, and it does this by preventing the EtherCAT ASIC from accessing the EEPROM, so that the processor can access it; this means that EtherCAT communications are disabled. This is used by setting this parameter and performing a option reset; the parameter cannot be saved.


Parameter3.00.035  Configured station alias
Short descriptionConfigured station alias
Minimum0Maximum65535
Default0Units 
Type16 Bit User SaveUpdate RateRead on power up or reset
Display FormatStandardDecimal Places0
CodingRW, NC, PT, BU

It is unnecessary for a user to set a station address manually in order to initiate EtherCAT communications; however, this parameter can be used to configure an EtherCAT Station Alias, which can be used to uniquely identify a particular slave. If this value is changed, it is necessary to reset the option for the new value to take effect (e.g. by saving parameters and performing a power cycle). If this value is left at the default value of zero, any value stored in the EtherCAT EEPROM will be used, and if a non-zero value is stored here, it will be used in place of the EEPROM value.


Parameter3.00.036  Consistency trigger for synchronous outputs
Short descriptionConsistency trigger for synchronous outputs
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateEtherCAT state transition
Display FormatStandardDecimal Places0
CodingRW

Parameter3.00.037  Consistency trigger parameter for synchronous outputs
Short descriptionConsistency trigger parameter for synchronous outputs
Minimum0Maximum999999
Default0Units 
Type32 Bit User SaveUpdate RateEtherCAT state transition
Display FormatSlot Menu ParameterDecimal Places0
CodingRW, DE

When the output consistency is enabled (in s.00.036 or s.00.040), the configured parameter (in s.00.037 or s.00.041 respectively) is used to control the data exchange, ensuring skew does not occur; a user program, etc, must check the configured parameter is 1 before reading the data received over the EtherCAT network, and it should clear the parameter to 0 after all the data has been read.

The SI-EtherCAT option will check that the parameter is 0 before writing RxPDO destinations and will set the parameter to 1 after the RxPDO destinations have been written.


Parameter3.00.038  Consistency trigger for synchronous inputs
Short descriptionConsistency trigger for synchronous inputs
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateEtherCAT state transition
Display FormatStandardDecimal Places0
CodingRW

Parameter3.00.039  Consistency trigger parameter for synchronous inputs
Short descriptionConsistency trigger parameter for synchronous inputs
Minimum0Maximum999999
Default0Units 
Type32 Bit User SaveUpdate RateEtherCAT state transition
Display FormatSlot Menu ParameterDecimal Places0
CodingRW, DE

When the input consistency is enabled (in s.00.038 or s.00.042), the configured parameter (in s.00.039 or s.00.043 respectively) 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 SI-EtherCAT option 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.


Parameter3.00.040  Consistency trigger for non-synchronous outputs
Short descriptionConsistency trigger for non-synchronous outputs
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateEtherCAT state transition
Display FormatStandardDecimal Places0
CodingRW

Parameter3.00.041  Consistency trigger parameter for non-synchronous outputs
Short descriptionConsistency trigger parameter for non-synchronous outputs
Minimum0Maximum999999
Default0Units 
Type32 Bit User SaveUpdate RateEtherCAT state transition
Display FormatSlot Menu ParameterDecimal Places0
CodingRW, DE

See the description of parameter s.00.037.


Parameter3.00.042  Consistency trigger for non-synchronous inputs
Short descriptionConsistency trigger for non-synchronous inputs
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateEtherCAT state transition
Display FormatStandardDecimal Places0
CodingRW

Parameter3.00.043  Consistency trigger parameter for non-synchronous inputs
Short descriptionConsistency trigger parameter for non-synchronous inputs
Minimum0Maximum999999
Default0Units 
Type32 Bit User SaveUpdate RateEtherCAT state transition
Display FormatSlot Menu ParameterDecimal Places0
CodingRW, DE

See the description of paramter s.00.039.


Parameter3.00.045  Homing Position Save
Short descriptionEnable homing position user save
Minimum0Maximum1
Default0Units 
Type1 Bit User SaveUpdate RateBackground
Display FormatStandardDecimal Places0
CodingRW, PT

Used to control if Homing Position is saved and used at start-up


Parameter3.00.046  Homing Position Parameter
Short descriptionMenu 18 user save parameter selection
Minimum51Maximum54
Default51Units 
Type8 Bit User SaveUpdate RateBackground
Display FormatStandardDecimal Places0
CodingRW, PT

This parameter is used to define the parameter in menu 18. This is limited to the 32bit User save parameters. The defined parameter will be updated at the end of homing and then read on initiasiation as the Homing Position if HOMING_POSITION_SAVE is set to true.