EtherCAT SDK User Manual
rt-labs AB
http://www.rt-labs.com
Revision: 497
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December 22, 2017
Contents
1 EtherCAT SDK Introduction 1
1 Download and Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2 Release Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Slave Editor 5
1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Start the Slave Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Create an EtherCAT Slave Editor Project . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4 Edit EtherCAT Slave Identity Information . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5 Enter EtherCAT slave Data Link Layer Configuration . . . . . . . . . . . . . . . . . . . . 10
6 Enter EtherCAT slave EEPROM PDI Settings . . . . . . . . . . . . . . . . . . . . . . . 11
7 Add EtherCAT Slave PDO and Configuration Parameters . . . . . . . . . . . . . . . . . 12
8 Generate C Source Code, EEPROM and ESI-file . . . . . . . . . . . . . . . . . . . . . . 14
3 EtherCAT Explorer User Manual 15
1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2 Start the EtherCAT Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3 Connect to an EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4 Explore EtherCAT Network Process Data . . . . . . . . . . . . . . . . . . . . . . . . . 17
5 Explore EtherCAT Slave Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . 18
6 Explore EtherCAT Slave Data Link Layer Configuration . . . . . . . . . . . . . . . . . . 19
7 Manage EtherCAT Slave EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
8 Explore EtherCAT Slave ESC Registers and RAM . . . . . . . . . . . . . . . . . . . . . 21
4 EtherCAT Explorer Reference Manual 23
1 Network Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2 Common Functionality in GUI Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3 SDO Data Reuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4 EtherCAT Explorer View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5 EtherCAT Details View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
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