Configuration with an EtherCAT Configurator
Different queue sizes or 29 bit CAN IDs
If you want to use extended CAN IDs or change Rx- or Tx- queue size, you have to do this in the
CoE dictionary, right after you clicked “Reread all” as described above, but it must be done
before
you recreate the list of available PDOs.
To use 29 bit IDs for example, you have to write object 0x8000.20 as described in 5.1.5.5. When
the list of available PDOs is recreated afterwards you'll notice a PDO size change (With the
standard queue sizes for example, the 198 bytes for the outputs will change to 262 byte).
When changing the queue sizes or CAN ID type this has to be done during slave start up,
too.
Section 4.2.1 shows how this is done for the CAN baud rate object – this works for other
objects as well.
4.2.1 Setting the Baud Rate during Slave Initialization
Go to the “Slave”, “Mailbox”, “CoE” tab page, right click in the init. commands list and select
“Append new item”:
Figure 9:
Appending CoE init command
In the following dialog window click “Select from object dict.” and select the baud rate object
(F800
h
:02) in the context menu that appears. Now the dialog should look like this:
Figure 10:
CoE init. command for baud rate object
Page 18 of 92
Manual • Doc. No.: C.2922.21 / Rev. 1.4
CAN-EtherCAT
