SFA-5000 • SFA-10000 EtherCAT
Select the
Dictionary
item in the left pane and then choose the
Online - via
SDO Information
option in the
Dictionary
page; press the
OK
button to
confirm.
5.5 Online Data
In the left pane of the
TwinCAT System Manager
main window press the
Box
(Lika EtherCAT SFA-XXXXX-EC)
item: some tabbed pages for configuring and
managing the device will appear in the right pane. Enter the
Online
page to
check the encoder status.
To display the encoder process data in real time, click the
Safe-OP
button if you
want to display inputs only; click the
OP
button if you want to display both
inputs and outputs.
WARNING
The structure of Data Objects (PDO and SDO) requires bytes to be sent from the
Least Significant Byte (LSB) to the Most Significant Byte (MSB).
On the contrary in TwinCAT you must write and read data from MSB to LSB.
Furthermore in TwinCAT also strings must be entered in the reverse order:
•
read default values: Data byte = 64 61 6F 6Chex = “daol” in ASCII code
(i.e. “load” if read in reverse);
•
save parameters: Data byte = 65 76 61 73hex = “evas” in ASCII code (i.e.
“save” if read in reverse).
MAN SFA_5000_10000_EC E 1.0.odt
5 - Quick reference (TwinCAT) 38 of 84