'CoE Data' tab (EtherCAT Master/Slave Online Functions)

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

This help topic describes the 'CoE Data' editor of the EtherCAT 'Online Functions'. In the 'Online Functions' editor, select the desired node (master or a slave) in the tree on the left and click the 'CoE Data' tab on top of the editor on the right. For a slave station, the object dictionary is uploaded from the slave to the master.

This topic contains the following sections:

Purpose of the 'CoE Data' editor

The 'CoE Data' editor tab implements and provides access to the Object Dictionary according to the CAN-over-EtherCAT (CoE) protocol which is defined for the node selected in the tree on the right (master or a slave station). The Object Dictionary can be edited if this is enabled by the respective device. This means that values can only be modified if write access is allowed. This is indicated by the flags shown for each object. These flags are described below.

By changing values to which write access is allowed, the editor tab provides direct access to the respective device (online access). Consequently, object values can also be changed here in any state of the device, even during running operation (Op state), thereby influencing the function of the respective device. Also observe the following note.

Note
The difference between this editor tab and the 'CoE Data' editor of an EtherCAT node in PLANT is that object value changes you make here in the 'Online Functions' are immediately transferred to the network and applied by the device.
In contrast, changes in the "offline editor" of a PLANT node only take effect after the project has been sent to the controller the next time. A value change in the offline 'CoE Data' editor generates a new init command, which must first be transferred to the controller (when writing and starting the project the next time) and then becomes effective during the transition of the status machine defined for this init command.
After an object value change in the 'Online Functions' no init command is generated (in contrast to value changes in the 'CoE Data' editor on the slave station PLANT nodes).

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 EtherCAT master or slave station.

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

Modifying an object value directly on the device

If a value is editable (which is 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'.

The new value is entered into the grid row. The network configuration is updated, i.e., the value is transmitted to the master and processed accordingly.
After editing a CoE object value in the Online Functions, no init command is generated - in contrast to value changes in the 'CoE Data' editor on the slave station PLANT nodes (offline change).