EtherCAT

This manual covers all the commands and properties associated with the EtherCAT module in the MC. The syntax and related properties and variables are shown for each command. Examples are also shown to illustrate the use of the functions and subroutines. It is recommended that you review this manual and refer to it when you are using these functions.

Various versions of the firmware adds many new features, and in many instances, significantly changes the syntax or behavior of functions (commands, properties). Therefore, the attribute Availability is included in the format to denote the applicability of each function (command, property) to the specified version of the firmware.

Contents

• Setup EtherCAT - How to setup EtherCAT
• EtherCAT Functions reference - Category, which lists basic EtherCAT functions
• Advanced EtherCAT Functions reference - Category, which lists Advanced EtherCAT functions
• CDHD CONFIGURE - Configure CDHD drives
• Digital IOs - Associate between System Digital IOs and drives and IO Modules IOs
• Drive Control Bits - Implementation of Drive Control Bits under EtherCAT

Command Reference Format

Each command or property description is clearly separated from adjacent command and property topics so that you can easily find the item that you are looking for. Each description contains sufficient information required to use the command or property correctly. All commands and properties contain the following items:

• Description
• Input
• Output
• Return Value
• Declaration
• Syntax
• Availability
• Type
• Range
• Units
• Default
• Scope
• Limitations
• Example
• See Also

When parameter values imply dimensional units of measurement, these units are specified in the description of the command or property where they apply.

Notation

In describing the syntax of an instruction, field to be filled by user is marked with < >.
For example, ABS ( <expression> ) indicates that <expression> is the user’s data.