CODESYS EtherCAT Example - Article no. 000008

ServoDrive over EtherCAT

This example shows how to read and write IDN”s with ServoDrive over EtherCAT. As hardware a Rexroth IndraDrive is used. It is also possible to switch the device to another one which uses ServoDrive over EtherCAT.

Several startup parameters can be set as device configuration. These parameters are called IDN”s for devices using ServoDrive over EtherCAT. For each IDN the name, attribute, unit, minimum, maximum and value can be set as number or byte array with a maximum of four bytes.

File over EtherCAT

This example shows how to read and write SDO”s with CAN over EtherCAT as well as downloading a firmware file with File over EtherCAT. It is also demonstrated how to get information about the master and slaves, like the number of active slaves or the state of the slave. As hardware two analog terminals with CAN over EtherCAT are used. The File over EtherCAT functions are implemented theoretically, without hardware.

For device configuration several startup parameters can be set. For devices which use CAN over EtherCAT an index and sub index is used for each parameter. For each parameter it is possible to read or write the value as number or byte array with a maximum of four bytes.