EtherCAT PDO Configuration Tutorial

Introduction

00:00:11

Welcome to our tutorial on EtherCAT PDO configuration with XGO Logic Control and EtherCAT Verify. This video shows step-by-step how Process Data Objects are parameterized and tested.

Demo System & Setup

00:00:31

The CNC demo system consists of four axes with analog and digital sensors. All devices are connected via EtherCAT.

Fieldbus Interfaces

00:00:57

XGO Logic Control supports EtherCAT, PROFINET, Ethernet/IP, and SERCOS III. In this tutorial, EtherCAT is configured.

Example Device & Parameterization

00:01:21

Copy the ESI file for the Festo drive and use the ESI Converter in EtherCAT Verify to create a parameter file (.par).

Create Object Dictionary

00:02:05

Use the Catalog Builder to generate an Object Dictionary for the Process Data Objects. Select the device, generate the catalog.

PDO Configuration

00:02:37

Select the desired Process Data Objects (PDOs) in the PDO Configurator. Pay attention to RX and TX data direction and add additional objects if necessary.

Synchronous Position Mode

00:03:13

RX: Control Word 6040, Mode of Operation 6060, Target Position 607A, Profile Velocity 6081. TX: Status Word 6041, Position Actual Value 6064, Error Code 603F.

Configure Operation Mode

00:04:30

Open the DC Configurator, select the parameter file, set the Frame Cycle Time and Sync Cycle Time, choose OP Mode 300.

Start System & Test

00:05:05

Start all EtherCAT devices. Base parameterization is present, set Sample and Sync Periods identically.

Monitor Mode & Masks

00:06:07

Access Process Data in Monitor Mode, create Input and Output Masks and assign them to the devices. Each mask is up to four bytes.

Activate Drives

00:08:56

Sequence: Error Reset → Quick Stop Disable → Voltage Enable → Switch On → Enable Operation, start homing procedure.

Check Synchronous Position Mode

00:10:08

Enter step commands, observe movement limits to prevent drive errors.