'CoE Data' Editor (EtherCAT Slave Device)

The following information refers to a specific, typical device type. Your screen may differ.

This help topic describes the 'CoE Data' editor of an EtherCAT slave device in the PLANT. EtherCAT slave devices are child elements of the 'EtherCAT' node (which represents the EtherCAT Master).

The 'CoE Data' editor implements and provides access to the Object Dictionary according to the CAN-over-EtherCAT (CoE) protocol which is defined in the ESI (EtherCAT Slave Information) file for the particular slave. The Object Dictionary can be edited if this is enabled by the slave devices.

There is a significant difference between this editor and the 'CoE Data' tab in the EtherCAT Master/Slave Online Functions: The editor described here cannot read the values of objects contained in the Object Dictionary from a device. This means that the editor does not allow direct access (online access) to the respective device. Changed values are also not written directly to the device. This editor is only used to generate new "Init Commands" by changing values.

Note
The ESI file also contains Receive (Rx) and Transmit (Tx) PDOs. PDOs can be considered as "special objects" that contain references to objects which can be included in the cyclical data transmission (i.e., into the EtherCAT data frame) between Master and slave by simply activating them in the 'PDO Data' Editor.

Column Description

Index Unique parameter identification. If several parameters belong together, their indices are composed of the same main index and a subindex separated by a colon (MainIndex:SubIndex).
Detailed information on the index groups can be found in the help topic "Slave Configuration: 'CoE Data' editor - CoE Object Dictionary", section "Content/structure of the Object Dictionary".

Name Descriptive and comprehensive parameter name.

Value Value of the parameter. The value type and range depends on the data type (see next row).
If a value is editable (indicated by its flags), you can modify it as follows:

Select the object to be edited.

Enter the desired value (in decimal or hexadecimal format) into the field below the grid and select the input format with the buttons provided.

Click 'Apply'.

Type Data type of the parameter (Boolean, integer number, text, or possibly another index).

Flags Specification whether the parameter value can only be read or also written (edited).
Description of the flags

Example representation: [RX TX (RW RW RW)] = AA BB (CC DD EE)
AA and BB:

RX: Mapping as receive PDO

TX: Mapping as transmit PDO

–: Mapping not allowed

CC: Access rights for state PreOp (RO, RW, RW)

DD: Access rights for state SafeOp (RO, WO, RW)

EE: Access rights for state Op (RO, WO, RW)

(RO = ReadOnly, WO = WriteOnly and RW = ReadWrite)

Column	Description
Index	Unique parameter identification. If several parameters belong together, their indices are composed of the same main index and a subindex separated by a colon (MainIndex:SubIndex). Detailed information on the index groups can be found in the help topic "Slave Configuration: 'CoE Data' editor - CoE Object Dictionary", section "Content/structure of the Object Dictionary".
Name	Descriptive and comprehensive parameter name.
Value	Value of the parameter. The value type and range depends on the data type (see next row). If a value is editable (indicated by its flags), you can modify it as follows: Select the object to be edited. Enter the desired value (in decimal or hexadecimal format) into the field below the grid and select the input format with the buttons provided. Click 'Apply'.
Type	Data type of the parameter (Boolean, integer number, text, or possibly another index).
Flags	Specification whether the parameter value can only be read or also written (edited). Description of the flags Example representation: [RX TX (RW RW RW)] = AA BB (CC DD EE) AA and BB: RX: Mapping as receive PDO TX: Mapping as transmit PDO –: Mapping not allowed CC: Access rights for state PreOp (RO, RW, RW) DD: Access rights for state SafeOp (RO, WO, RW) EE: Access rights for state Op (RO, WO, RW) (RO = ReadOnly, WO = WriteOnly and RW = ReadWrite)

Further Info

Information about the structure of the Object Dictionary and the contained objects can be found in the manual of your slave station.

More information on the 'CoE Data' editor can be found in the help topic "Slave Configuration: 'CoE Data' editor - CoE Object Dictionary".