Generic Slave DTM for EtherCAT Slave Devices
Contents
1. oe hilscher COMPETENCE IN COMMUNICATION Operating Instruction Manual Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices Hilscher Gesellschaft fur Systemautomation mbH www hilscher com DOGCO712020105EN Revision 5 English 2013 09 Released Public Table of Contents 2 43 Table of Contents 1 INTRODUCTION arouses ees ectensers ese teeta cients AE E EAE 4 1 1 ADOHE this Mapa dec heit aes Eoi oia eoi disces ie 4 1 1 1 Descriptions of the Dialog Panes ccccscccccseeecceeseeeceeeseecseseeeseseeesseseessaaeees 4 1 1 2 ONNE HeD mec a ae 4 1 1 3 LISEOFREVISIONS mtr eaa e aa N 5 1 1 4 COnvenuors malls Manual weichen 6 1 2 LEGAL NOTE ee een 7 1 2 1 CODYN ET ers UT 7 1 22 IMDOKlAnE reich ne T 7 1 2 3 EXClUSION OR Mio E 8 1 2 4 Warrants TR MEM 8 12 5 FX DOM pieles tee 9 1 2 6 Registered Trademarks sessi eene nnne nnne nnne 9 1 3 About EtherCAT Generic Slave DTM ccccccccccssecceceseeeeeeeceeseeeeeseeseesaeeeeseeeesanes 10 1 3 1 HOeQulremellis re erlernen heine 10 1 4 Dialog Structure of the EtherCAT Generic Slave DTM eeeeeeeeeeeee 11 1 4 1 General Device Information 222220000000nnnneennnnnnnnnennnnnnnnnennnnnnnnne nennen 12 1 4 2 Nav gallon Alfa A 12 1 4 3 Didog PAGES anstatt reitet 13 1 4 4 OR Gance Appi and Help osito ee 14 1 4 5 DEXE cc M 142. 1 4 6 SIBI US DO eee oR en ee eee 15 2 GETTING STARTEDE Een 16 2 1 GONIQUFZHON STEDS a E mou 16 3 CONFIGURATION 17 3 1 Overview COnDFIQUI tlOfi adosidec bos enata tn ette ten o no Ene ti a by esiti deir eea s 17 3 2 Configuring Device Parameters sirais ia e E ANR AS 18 3 3 General UT 19 3 4 BENAVIOT re ee c 20 3 4 1 Slate Machine TIQegOUL sisi cis ge els ee 21 3 4 2 DEVICE CHECK UD tices arena 22 3 4 3 Frocoss Dala Pat DICE PT TD nee 23 3 4 4 V Eee 24 3 5 DISIEDUTEA GOCK qu T T T M 25 3 5 1 SUN ctor tdt tt E E t ee tL ee eee 26 3 5 2 egg mcm EM 29 3 6 PIOCESS Dalai tear ea eect hl tiga tc lle ce a ad eat ah ee 30 3 6 1 OV IG Managers leisen lese 31 3 6 2 PDO Assignment Index 0x1010 OX1C1F eese 33 3 6 3 PDO Content Index 0x1600 0x17FF 0x1A00 OX1 BFF sssse 35 Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Table of Contents 3 43 3 7 Mailbox ERE UE 36 3 4 1 GOE acts sent REN M NEUEN CR INE ANS RE UNES NONE INCONTRI 36 4 Wende T 3 4 1 OVERVIEW DESEIPIOHE ze erraten 37 4 2 PMI DID FE WiC We iis ee ee eigen 38 5 ras cA abl NS Peer ne te Rr A Bas ee 39 5 1 USE HIGH ce ee ee ee ee ee 39 5 1 1
3. 2013 09 Released Public Hilscher 2007 2013 Introduction 12 43 1 4 1 General Device Information IO Device Name of the device Vendor name of the device Device ID Identification number of the device Vendor ID Identification number of the vendor Table 2 General Device Information 1 4 2 Navigation Area The Navigation Area contains folders and subfolders to open the dialog panes of the DTM Navigation Area x Configuration ia General Behavior Distributed Lock Process Data Mailbox Coe m Description AML DDF Viewer Figure 2 Navigation Area gt Select the required folder and subfolder dv The corresponding Dialog pane is displayed Hide display Navigation 8 Hiding the navigation area above right side MI show navigation area Opening the navigation area below left side Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020l05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 13 43 1 4 3 Dialog Pages At the dialog pane the Configuration or Description panes are opened via the corresponding folder in the navigation area Configuration General At the General pane EtherCAT Slave information is displayed For further information refer to section General on page 19 Behavior At pane Behavior the parameters of the Device checkup the Process Data and the Watchdog are described For further inf
4. Configuration 25 43 3 5 Distributed Clock At the page Distributed Clock the DC Sync mechanism and SyncO and Synci can be activated and the parameters Operation made Iw Activate DC Sync Sync unit cycle Sync U Iw Activate Syne i Cycle Time f Syne unit cycle t User defined Sync 1 Activate Sync 1 Cycle Time Sync O cycle tine x Sync 0 Cycle Time Sync 0 Shift Time Sync 1 Cycle Time and Sync1 Shift Time can be determined and set DC for synchronization Shift Time x1 User defined us us Sync O cycle time Us xD Ls Shift Time 2 User defined us TE Figure 12 Configuration gt Distributed Clock Operation Mode There are three operation modes available for Distributed Clocks These are DC unused DC for synchronization User defined Operation Mode Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020105EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration Operation mode W Activate DC Syne Sync unit cycle 3 9 1 3 5 1 1 Sync 0 Sync 0 26 43 Inc Far synchronization DC Far synchronization User defined Operation Mode F Figure 13 Operation Mode Activate DC Sync In order to set up SyncO and Sync1 the check box Activate DC Sync has to be set Data can only be entered into this screen if the check box Activate DC Sync is checked Other
5. Dialog Structure of the Generic EtherCAT Slave DTM 11 Figure 2 Navigation Area 12 Figure 3 Status Bar Status Fields 1 to 6 15 Figure 4 Status Bar Display Example 15 Figure 5 Navigation Area Configuration 17 Figure 6 Configuration gt General 19 Figure 7 Configuration gt Behavior 20 Figure 8 Configuration gt Behavior gt State Machine Timeout Configuration 21 Figure 9 Configuration gt Behavior gt Device Check 22 Figure 10 Configuration gt Behavior gt Process data 23 Figure 11 Configuration gt Behavior gt Watchdog 24 Figure 12 Configuration gt Distributed Clock 25 Figure 13 Operation Mode 26 Figure 14 Sync 0 Cycle Time 26 Figure 15 Sync 0 Shift Time 27 Figure 16 Sync 1 Cycle Time 29 Figure 17 Sync 1 Shift Time 29 Figure 18 Configuration gt Process data 30 Figure 19 Configuration gt Process data gt Sync Manager 31 Figure 20 Configuration gt Process data gt PDO Assignment 33 Figure 21 Configuration gt Process Data gt PDO Content 35 Figure 22 Configuration gt Mailbox gt CoE Mailbox Settings 36 Figure 23 Navigation Area Description 37 5 4 List of Tables Table 1 Overview Dialog Pages 4 Table 2 General Device Information 12 Table 3 Overview Dialog Panes 13 Table 4 OK Cancel Apply and Help 14 Table 5 Selecting inserting deleting Table Line 14 Table 6 Status Bar Icons 1 15 Table 7 Getting started Configuration Steps 16 Table 8 Descriptions of the Dialog Pages Con
6. GONNAUFAUON ei na a A EAE enisierie 39 5 2 PROTON CNG en nee ee 39 5 3 LISEOBIPIQUFOS en u ee euere ee 40 5 4 Eizo c R 40 5 5 GIOSS Ay X TYO 41 5 6 COMAC rs ES 43 Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 4 43 1 Introduction 1 1 About this Manual This manual provides information on how to set up EtherCAT Slave devices described with XML DDF files These devices can be configured with the EtherCAT generic Slave DTM within an FDT Framework 1 1 1 Descriptions of the Dialog Panes The table below gives an overview for the individual dialog panes descriptions p qm Page Mab 0 8 A Description Overview Description er XML DDF Viewer Table 1 Overview Dialog Pages 1 1 2 _ Online Help The generic EtherCAT Slave DIM contains an integrated online help facility gt To open the online help click on Help or press F1 Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 1 1 3 List of Revisions ee ee ee NN ES 12 09 27 0 912 x x ECATGenericSlaveDTM dll ECATGenericSlaveGUl ocx 13 01 23 0 922 x x ECATGenericSlaveDTM dll
7. Save Manual of the Frame Application Table 7 Getting started Configuration Steps Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 17 43 3 Configuration 3 1 Overview Configuration Dialog Panes Configuration The table below gives an overview about the available Configuration dialog panes descriptions P E Page Overview Configuration General Behavior State Machine Timeout Device Check up Process Data Watchdog Distributed Clock Process Data Sync Manager PDO Assignment Index 0x1C10 0x1C1F PDO Content Index 0x1600 0x17FF 0x1A00 0x1BFF Mailbox CoE Overview Description XML DDF Viewer Table 8 Descriptions of the Dialog Pages Configuration Navigation Area ES x Configuration ie General Behavior Distributed Lock Process Data Mailbox Coe Description AML DOF Viewer Figure 5 Navigation Area Configuration amp For information to further steps as Download Configuration or Diagnosis refer to the Operating Instruction Manual DTM for EtherCAT Master devices Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 18 43 3 2 Configuring Device Parameters The following steps are needed to configu
8. User defined The value is specified in units of microseconds The default value is 1000 microseconds The allowed of values range from O to 4 294 967 295 microseconds If the specified value violates one of these limits an error message Is issued 3 5 1 2 Sync 0 Shift Time Shift Time User defined 1000 us Syne O cycle time Figure 15 Sync 0 Shift Time The Sync 0 Shift Time is calculated in the following way The Sync 0 Cycle Time is multiplied with or divided by an adjustable factor the Sync 0 Shift Time Modifier The following values are available within the selector list Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020l05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 28 43 Note In contrast to the Sync 0 Cycle Time described above here also the factor 0 may be chosen The default value for this factor is e 0 if the chosen operation mode see above is DC for synchronization e 1 otherwise Then the value specified in the input field User defined is added to the product The allowed range of values extends from 2147483 648 to 2147483 647 If a value outside of these limits is specified an error message will be issued The sum is displayed in the lower field having been grayed out It is now used as the Sync 0 Shift Time Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave
9. gt CoE Mailbox Settings The dialog page provides the following information e The channel number of the sync manager for mailbox input and output e The configured mailbox size this applies both for the input mailbox and for the output mailbox The complete MailBox configuration for each slave with MailBox support is done in the EtherCAT Master DTM Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Description 37 43 4 Description 4 1 Overview Description The Description pages contain the following information e XML Viewer page the devices XML file content in HTML style Description Dialog Pages The table below informs about the contents of the Description dialog page Subsection XML DDF Viewer Table 18 Descriptions of the Description Pages Navigation area 3 Configuration General Behavior Process Data C3 Mailbox EJ CoE Startup Object Dictionary Online Description i ML ODF Viewer Figure 23 Navigation Area Description Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Description 38 43 4 2 XML DDF Viewer gt The XML DDF Viewer displays the content of the DDF file of the device which is stored in an XM
10. netDevice Network gt Import Device Descriptions 2 Load device catalog Depending of the FDT Container For netDevice See Operating Instruction select Network gt Device Catalog Manual netDevice and select button Reload Catalog netProject 3 Create new project Depending of the frame application Open existing project For the configuration software See Operating Instruction select File gt New or File gt Open Manual of the Frame i Application 4 Insert Master or Slave Depending of the FDT Container into configuration For netDevice in the Device Catalog click to the Master and insert the device via drag and drop to the line in the network view in the Device Catalog click to the Slave and insert the device via drag and drop to the Master bus line in the network view 5 Configure Slave Configure the Slave Configuring Device Double click to the device icon of the Parameters Slave The generic Slave DTM configuration dialog is displayed In the generic Slave DTM configuration dialog configure the EtherCAT device parameters close the generic Slave DTM configuration dialog via the button OK Configuration Steps Configure the Master device via See Operating Instruction Master device EtherCAT Master DTM Manual DTM for EtherCAT Master devices 7 Save project Depending of the frame application For the configuration software See Operating Instruction select File gt
11. segment all connected devices controllers and cyclic process data exchange mailbox and diagnostics services Physical type of data transmission used by EtherCAT An EtherCAT Slave Master can have up to 4 EtherCAT ports Can be one of the following three alternatives e E Bus e 100Base TX e 100Base FX A device which is configured by the Master receives telegrams with output data commands from it and provides input and status data Field Device Tool FDT specifies an interface in order to be able to use DIM Device Type Manager in different applications of different manufacturers Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Appendix FMMU LVDS Object Dictionary PDO SDO Sync Manager XML 42 43 Fieldbus Memory Management Unit A field bus memory management unit organizes a mapping of EtherCAT logical addresses to physical addresses Low Voltage Differential Signals A data transmission standard specified in ANSI TIA EIA 644 1995 and used in Beckhoff s E Bus An object dictionary is a storage area for device parameter data structures It is accessed in standardized manner very similarly as this is done in CANopen Process Data Objekt opecific data object for cyclic data communication Service Data Objekt opecific data object for acyclic data communication i e
12. value applies to the transition from Pre Operational state to Safe Operational state and from Safe Operational state to Operational state e Back to P This value applies to the transition from any higher state back to Pre Operational state or nit state e O2S This value applies to the transition from Operational state to Safe Operational state Note These timeout values are specified in units of milliseconds State Machine Timeout ma I2P 3000 P25 S205 10000 Back to P I S000 O25 zu Figure 8 Configuration Behavior State Machine Timeout Configuration Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020l05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 22 43 3 4 2 Device Check up The device check up part of the Behavior dialog looks like Device checkup Iw VendarID Iw Product code Revision Figure 9 Configuration gt Behavior gt Device Check The following table shows which items identifying the EtherCAT device can optionally be verified during device check up if marked in the dialog accordingly Parameter Meaning VendorlD Device s vendor ID DDF or stored device internally Product code Device s product code DDF or stored device internally Device s revision DDF or stored device internally Table 11 Parameters Behavior gt Device checkup The values within the DDF file a
13. violation of significant contractual obligations Indemnity claims for the violation of significant contractual obligations are limited to damages that are foreseeable and typical for this type of contract It is strictly prohibited to use the software in the following areas e for military purposes or in weapon systems e for the design construction maintenance or operation of nuclear facilities e in air traffic control systems air traffic or air traffic communication Systems e in life support systems e in systems in which failures in the software could lead to personal injury or injuries leading to death We inform you that the software was not developed for use in dangerous environments requiring fail proof control mechanisms Use of the software in such an environment occurs at your own risk No liability is assumed for damages or losses due to unauthorized use 1 2 4 Warranty Although the hardware and software was developed with utmost care and tested intensively Hilscher Gesellschaft f r Systemautomation mbH does not guarantee its suitability for any purpose not confirmed in writing It cannot be guaranteed that the hardware and software will meet your requirements that the use of the software operates without interruption and that the software is free of errors No guarantee is made regarding infringements violations of patents rights of ownership or the freedom from interference by third parties No additional guaran
14. 0 E Mail fr support hilscher com India Hilscher India Pvt Ltd New Delhi 110 065 Phone 491 11 26915430 E Mail info hilscher in Italy Hilscher Italia S r l 20090 Vimodrone MI Phone 39 02 25007068 E Mail info hilscher it Support Phone 39 02 25007068 E Mail it support hilscher com 43 43 Japan Hilscher Japan KK Tokyo 160 0022 Phone 81 0 3 5362 0521 E Mail info hilscher jp Support Phone 81 0 3 5362 0521 E Mail jp support hilscher com Korea Hilscher Korea Inc Seongnam Gyeonggi 463 400 Phone 82 0 31 789 3715 E Mail info hilscher kr Switzerland Hilscher Swiss GmbH 4500 Solothurn Phone 41 0 32 623 6633 E Mail info hilscher ch Support Phone 49 0 6190 9907 99 E Mail ch support hilscher com USA Hilscher North America Inc Lisle IL 60532 Phone 1 630 505 5301 E Mail info hilscher us Support Phone 1 630 505 5301 E Mail us support hilscher com Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013
15. 0 q 1 Data008 BYTE ox2000 10 1 3 Data003 BYTE 02000 11 1 10 DataD10 BYTE 02000 12 1 11 Data011 BYTE 02000 13 1 12 Data 2 BYTE ox2000 14 1 13 Data013 BYTE a A E ch Figure 21 Configuration gt Process Data gt PDO Content For the mapped process data objects the following values are displayed Parameter Meaning SSSOSC S Offset Offset of the PDO entry relative to 0x1600 for output and to 0x1A00 for input PDOs Name of the PDO entry Data type of the PDO entry Table 17 Parameters Process Data gt PDO Content The PDO content is stored in a transmit receive object within the object dictionary of the EtherCAT slave You can find the correct index of the selected transmit receive PDO in the headline of the PDO assignment area In the current example the information was taken from the object with index 0x1604 For an explanation of the navigation buttons see section Table Line of this document Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020l05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 3 7 Mailbox 3 7 1 CoE 36 43 For slave devices supporting the CoE MailBox the following dialog page is additionally displayed Mailbox Synch anager MbxQuk SM Channet T MbsxQue size 128 MbxIn SM Channel 1 MbxIn size 128 Mate CoE Configuration is done in Master DTM Figure 22 Configuration gt Mailbox
16. 020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 10 43 1 3 About EtherCAT Generic Slave DTM You can use the EtherCAT generic Slave DTM to configure the EtherCAT Slave devices described with XML DDF files within a FDT Framework The information necessary for the configuration of the EtherCAT Slave devices is stored within the EtherCAT Master device when using the EtherCAT generic Slave DTM and thus the Master device is configured 1 3 1 Requirements System Requirements e PC with 1 GHz processor or higher e Windows XP SP3 Windows Vista 32 bit SP2 Windows 7 32 bit SP1 Windows 7 64 bit SP1 Windows 8 32 bit or Windows 8 64 bit e Administrator privilege required for installation e Internet Explorer 5 5 or higher e RAM min 512 MByte recommended 1024 MByte e Graphic resolution min 1024 x 768 pixel e Keyboard and Mouse Note If the project file is saved and opened again or if it is used on another PC the system requirements must match Particularly the DTM must be installed on the used PC Restriction Touch screen is not supported Requirements EtherCAT Generic Slave DTM Requirements for working with the EtherCAT generic Slave DTM are e Installed FDT DTM V 1 2 compliant frame application e Installed EtherCAT Master DTM e DDF file of the devices to be configured e The user needs to reload the Device Catalog Loading XML DDF files To add d
17. Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 29 43 3 5 2 Sync i 3 5 2 1 Checkbox Activate Sync 1 Sync 1 can be activated and deactivated by checking and unchecking the check box Activate Sync 1 3 5 2 2 Sync 1 Cycle Time Sync 1 Activate Sync 1 Cycle Time Sync O cycle time x z Figure 16 Sync 1 Cycle Time The Sync 1 Cycle Time is calculated as the product of the Sync 0 Cycle Time see subsection Sync 0 above with a positive integer factor that is specified in the input field right of Sync 0 cycle time x The range of allowed factors extends from 1 to 1024 If a value violating these limits is entered an error message will be issued The product is then displayed in the grayed out field just below of the input field 3 5 2 3 Sync 1 Shift Time Shift Time User defined ol us Figure 17 Sync 1 Shift Time Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020l05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 30 43 3 6 Process Data In EtherCAT the process data objects PDO are assigned to sync managers A sync manager is used for synchronization of data communication on a certain communication channel This channel is configured either for input or for output and either for cyclic or for acyclic communication This is defined within t
18. ECATGenericSlaveGUl ocx 5 43 Revised Section Requirements updated Check boxes Serial number and include WC state Bit s have been removed in section Behavior Update of Figure 18 Configuration gt Process data Update of Figure 22 Configuration gt Mailbox gt CoE Mailbox Settings Section Requirements Windows 8 added Removed option Include WC state Bit s Removed option Serial number Adapted menu tree for new entry Distributed Clocks Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 6 43 1 1 4 Conventions in this Manual Notes operation instructions and results of operation steps are marked as follows Notes Important lt important note gt Note lt note gt amp note where to find further information Operation Instructions 1 instruction 2 instruction or gt instruction Results Y lt result gt Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 7 43 1 2 Legal Notes 1 2 1 Copyright Hilscher 2007 2013 Hilscher Gesellschaft fur Systemautomation mbH All rights reserved The images photographs and texts in the accompanying material use
19. Hilscher 2007 2013 Configuration 34 43 The PDO assignment is stored in a sync manager channel object within the object dictionary of the EtherCAT slave The index of such an object is displayed in the headline of the PDO assignment area and it has a relationship with the sync manager channel number n Index 0x1C10 n n 0 15 In the current example the information was taken from the object with the index 0x1C12 indicating sync manager 2 had been chosen for display For slave devices with selectable PDO assignment PDO PDOs can be selected from the given list of multiple fixed PDOs according to the rules defined by the device description file Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020105EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration PDO Content Index 0x1600 0x17FF 0x1A00 0x1BFF 3 6 3 POO content x 1600 35 43 The lower right part of the process data dialog represents the PDO Content area It contains the mapped process data objects of the transmit receive PDO which has been selected in the upper right part of the window jj index SubIndex Byte length Offset Name pe a DE ei e 1 1 D D ata 0D BYTE 3 102000 2 1 1 Data001 BYTE 3 0 2000 3 1 2 Dats002 BYTE 02000 4 1 3 Dats003 BYTE 02000 5 1 4 Data004 BYTE 02000 B 1 5 Data005 BYTE 02000 1 E D ata DE BYTE ox2000 g 1 Data007 BYTE ox200
20. L format Under Filename the absolute file directory path and the file name of the displayed DDF file is displayed Find what offers a search feature to search for text contents within the text of the DDF file In the DDF Viewer window on the left side the line number is displayed for simple overview the further entries show the DDF file in text format Parameter Meaning File directory path and the file name of the displayed DDF file Find what Search feature to search for text contents within the text of the DDF file Match whole word Search option Table 19 Device Description XML DDF Viewerr The XML DDF Viewer page consists of the following elements e File name shows the absolute path of the DDF file e Find what offers searching for specific text within the DDF file e Using the Find Next button allows you to jump to the next occurrence of the text to be searched for within the XML DDF file e Check Match case if you want to perform a case sensitive search e Check Match whole word if only entire words should match and fragments of words should be excluded from matching Note You can also access the search functionality of the XML DDF Viewer by typing Ctrl F on the keyboard Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Appendix 39 43 5 Appendix 5 1 User Rights User rights ar
21. Process data gt Sync Manager The size of the Sync Managers is defined by the assigned PDO objects In this case the PDO object is assigned to the Sync Manager 3 and because the content of this object has the size 8 the Sync Manager is configured to 8 bytes The read only checkboxes below show the download flags which are defined in device description file They have the following meaning Checkbox Meaning o PDO Assignment This flag indicates whether to download PDO assignment of Sync Manager If this flag is checked this means that PDO assignment of the slave is writable and special CoE Init Commands should be generated by the EtherCAT Master DTM in the Configuration Information File These CoE Init commands include the indices of transmit receive PDOs Therefore the slave knows how such PDOs are related to the Sync Manager PDO Configuration This flag indicates whether to download PDO mapping If this flag is set as checked this means that PDO mapping of the slave is writable and special CoE Init Commands should be generated by the EtherCAT Master DTM in the Configuration Information File These CoE Init Commands include the indices of mapped process data objects Therefore slave knows how mapped PDOs are related to transmit receive PDOs Table 15 Meaning of Checkboxes Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Publi
22. ards or other data of the delivered product No warranty or guarantee regarding the correctness or accuracy of the information is assumed We reserve the right to change our products and their specification as well as related user manuals accompanying texts and documentation at all times and without advance notice without obligation to report the change Changes will be included in future manuals and do not constitute any obligations There is no entitlement to revisions of delivered documents The manual delivered with the product applies Hilscher Gesellschaft fur Systemautomation mbH is not liable under any circumstances for direct indirect incidental or follow on damage or loss of earnings resulting from the use of the information contained in this publication Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 8 43 1 2 3 Exclusion of Liability The software was produced and tested with utmost care by Hilscher Gesellschaft fur Systemautomation mbH and is made available as is No warranty can be assumed for the performance and flawlessness of the software for all usage conditions and cases and for the results produced when utilized by the user Liability for any damages that may result from the use of the hardware or software or related documents is limited to cases of intent or grossly negligent
23. bar JD Disconnected Data Set 1 2 345 6 Figure 3 Status Bar Status Fields 1 to 6 Icon Meaning DTM Connection States xD Connected Icon closed Device is online lt j Disconnected Icon opened Device is offline Data Source States f Data set The displayed data are read out from the instance data set database i Device The displayed data are read out from the device States of the instance Date Set Valid Modified Parameter is changed not equal to data source Table 6 Status Bar Icons 1 Offline State Disconnected Data Set Online State e IEEE Data Set Figure 4 Status Bar Display Example Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020l05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Getting started 16 43 2 Getting started 2 1 Configuration Steps The following table describes the steps to configure a EtherCAT Slave device with the EtherCAT generic Slave DIM as it is typical for many cases At this time it is presupposed that the EtherCAT Master DTM installation was already done Short Description For detailed information see Page section Add EtherCAT Slave in Add the Slave in the Device Catalog by the Device Catalog importing the device description file to See Operating Instruction the Device Catalog Manual netDevice and Depending of the FDT Container netProject For
24. c Hilscher 2007 2013 Configuration 33 43 3 6 2 PDO Assignment Index 0x1C10 0x1C1F The upper right part of the process data dialog represents the PDO Assignment area for the sync manager chosen within the left part of the window It contains the transmit receive PDOs Thus the contents of this table depends on the choice of the sync manager in the left part of the window If a sync manager with type Outputs is selected all defined receive PDOs Index 0x1600 0x17FF in the device description file will be shown in this table Similarly if a sync manager with type Inputs is selected all defined transmit PDOs Index 0x1A00 0x1BFF will be shown in this table POO Assignment x1Cc12 Name Activate Inden Bytelength Flags Description cifX RE ECS HQ utnutsl 0x1 600 100 Figure 20 Configuration gt Process data gt PDO Assignment For the transmit receive PDOs assigned to the chosen sync manager the following values are displayed Parameter Meaning Activate Activation check box for assigned PDO of the selected Sync Manager Index Object index of the PDO Flags Flags assigned to the PDO Description Description of the PDO Table 16 Parameters Process data gt PDO Assignment Byte length Length of the PDO in bytes Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public
25. e set within the FDT container Depending on the level the configuration is accessible by the user or read only To access the Configuration panes of the generic EtherCAT Slave DTM you do not need special user rights Also all users can select the decimal or hexadecimal Display mode or sort table entries panes you need user rights for Maintenance for Planning Engineer or for Administrator Note To edit set or configure the parameters of the Configuration The following tables give an overview of the user right groups and which user rights you need to configure the single parameters 5 1 1 Configuration Observer Operator Maintenance Planning Adminis Engineer trator Gmm o X D Xx o k o Bhww D X 0 X X X Y Distributed Clock p P S J x Jmnx X Processbata Jo o X KX Table 20 Configuration D Displaying X Editing Configuring 5 2 References 1 Device Type Manager DTM Style Guide Version 1 0 FDT JIG Order No lt 0001 0008 000 gt 2 EtherCAT Communication Specification August 2007 3 EtherCAT Slave Protocol API Manual Revision 3 V4 Hilscher GmbH 2013 EtherCAT Slave Protocol API Manual Revision 21 V2 Hilscher GmbH 2013 Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Appendix 40 43 5 3 List of Figures Figure 1
26. evices to the netDevice device catalog you must import the XML DDF file of the used device via netDevice menu Network gt Import Device Descriptions into the DDF folder of the DIM Then the Device Cataloge must be reloaded The folder DDF inclusively Windows XP is located in the application data directory All Users of the configuration software or from with Windows 7 on in the C ProgramData SYCONnet directory amp For further information refer to section Configuration Steps on page 16 under step 1 and 2 Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020105EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 11 43 1 4 Dialog Structure of the EtherCAT Generic Slave DTM The graphical user interface of the DTM is composed of different areas and elements listed hereafter 1 A header area containing the General Device Information The Navigation Area area on the left side The Dialog Pane main area on the right side OK Cancel Apply Help ol epus So DN The Status Line containing information e g the online state of the DTM General Device Information Navi gation Bros Dialog Pane OK Cancel Apply Help Status Line Figure 1 Dialog Structure of the Generic EtherCAT Slave DTM Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English
27. figuration 17 Table 9 General Page Parameters 19 Table 10 Coding of Parameter Physics 19 Table 11 Parameters Behavior gt Device checkup 22 Table 12 Parameters Behavior gt Process data 23 Table 13 Parameters Behavior gt Watchdog 24 Table 14 Parameters Process data gt Sync Manager 31 Table 15 Meaning of Checkboxes 32 Table 16 Parameters Process data gt PDO Assignment 33 Table 17 Parameters Process Data gt PDO Content 35 Table 18 Descriptions of the Description Pages 37 Table 19 Device Description XML DDF Viewerr 38 Table 20 Configuration D Displaying X Editing Configuring 39 Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Appendix 5 5 Glossary CoE DDF DTM E PROM E Bus EDS EtherCAT Master EtherCAT Port EtherCAT Slave FDT 41 43 CANopen over EtherCAT CoE denominates a method for accessing an object dictionary which has been adopted for use in EtherCAT from CANopen Device Description File Device Type Manager The Device Type Manager DTM is a software module with graphical user interface for the configuration or for diagnosis of devices Electronically erasable Programmable Read Only Memory Bus system based on LVDS standard Electronic Data Sheet A device which is responsible for the configuration parameterization of the EtherCAT
28. he device description file Up to 16 sync manager can be configured These are numbered from O up to 15 The process data dialog only displays the sync manager which is for cyclic communication Possible sync managers for acyclic communication is displayed in the CoE MailBox dialog The illustration below shows the process data dialog of the EtherCAT Generic Slave DTM Sync Manager POO Assignment Ux1C12 EUN 700 Outputs cix HE ECS i 100 Inputs PIES ea Ox1600 100 POO content mdex Sub l Byte Offset Name Type J raw TIO 1 T D ET BYTE 02000 2 1 D atall Ti BYTE 02000 3 1 2 Datalllz BYTE Ox 000 4 1 3 D atall T3 BYTE 02000 5 4 Data BYTE 02000 6 1 Data BYTE O 2000 7 1 b D atall 5 BYTE Says D 2000 8 1 7 Datab BYTE x Figure 18 Configuration Process data The process data dialog consists of three parts e Sync Manager area e PDO Assignment area e PDO Content area Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 31 43 3 6 1 Sync Manager Within the process data dialog only those PDOs can be shown simultaneously which are assigned to the same sync manager The left part of the process data dialog represents the Sync Manager area which is used for choosing the sync manager to be used It provides the Sync Manager table for choos
29. ing rules apply for resetting the watchdog timers e Each access from the application controller to the EtherCAT Slave controller resets the watchdog timer of the Process Data Interface e Each write access to the associated memory area of a sync manager resets the sync manager s watchdog timer The watchdog timeout values can be calculated using the formula given below from an individually configurable value and a common multiplier The Watchdog part of the Behavior dialog allows specifying the multiplier and the individual values for PDI watchdog and sync manager watchdogs Watchdog Set multiplier Reg 400 h Set POT watchdog Reg 410 h ms 100 000 Set SM watchdog Reg 420 hi ms 100 000 Figure 11 Configuration gt Behavior gt Watchdog i n MEEEEEEEENEENEEM Set multiplier Watchdog multiplier content of the register 0x400 Set PDI watchdog PDI watchdog see note below Set SM watchdog SM watchdog see note below Table 13 Parameters Behavior gt Watchdog Note The PDI amp SM watchdog timeout values are calculated as follows PDI watchdog timeout value of register 0x400 2 40 value of register Ox 410 SM watchdog timeout value of register Ox 400 2 40 value of register Ox 420 Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013
30. ing the sync manager whose PDOs are to be displayed and additionally two checkboxes for PDO assignment and PDO configuration which however are relevant in case of variable configuration only Sync Manager TM Byte length Type Flags E 2 1024 Outputs 3 200 Inputs Download PDO Assignment PDO Configuration Figure 19 Configuration gt Process data gt Sync Manager The table Syne Manager displays the configuration of the sync managers for the device as defined in its device description file DDF For each of the 4 sync managers available at maximum in the table the following information is displayed Parameter Meaning Sync Manager channel number 0 15 Byte length Sync Manager length in bytes Sync Manager type Inputs Outputs Sync Manager flags Flag F fixed contents Table 14 Parameters Process data gt Sync Manager In case this device supports acyclic communication based on mailboxes the Sync Manager 0 is used for the mailbox output master to slave and the Sync Manager 1 is used for the mailbox input slave to master Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 32 43 If the device does not support acyclic communication based on mailboxes Sync Manager 0 15 can be used for the Process data outputs and inputs also see Figure Configuration gt
31. mailbox based communication It is typically used for accessing the object dictionary oynchronization Manager A sync manager synchronizes the data communication on a specific communication channel It is configured for managing either input or output and for working either cyclically or acyclically based on mailboxes Configuration is done within the DDF file Up to 4 sync managers numbered 0 to 3 can be configured Extensible Markup Language A versatile data storage format defined by the World Wide Web Consortium W3C It is based on elements and attributes In EtherCAT it is used in device descriptions stored in DDF files Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020105EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Appendix 5 6 Contacts Headquarters Germany Hilscher Gesellschaft fur Systemautomation mbH Rheinstrasse 15 65795 Hattersheim Phone 49 0 6190 9907 0 Fax 49 0 6190 9907 50 E Mail info hilscher com Support Phone 49 0 6190 9907 99 E Mail de support hilscher com Subsidiaries China Hilscher Systemautomation Shanghai Co Ltd 200010 Shanghai Phone 86 0 21 6355 5161 E Mail info hilscher cn Support Phone 86 0 21 6355 5161 E Mail cn support hilscher com France Hilscher France S a r l 69500 Bron Phone 33 0 4 72 37 98 40 E Mail info hilscher fr Support Phone 33 0 4 72 37 98 4
32. on data has been changed Do you want to save the data by Yes No or Cancel Yes The changes are saved or the changed values are applied on the frame application database The dialog then closes No The changes are not saved or the changed values are not applied on the frame application database The dialog then closes Cancel Back to the DTM To confirm your latest settings click Apply All changed values will be applied on the frame application database The dialog remains opened Help To open the DTM online help click Help Table 4 OK Cancel Apply and Help 1 4 5 Table Lines In the DTM dialog pane table lines can be selected inserted or deleted To select the first line of a table use First Line To select the previous line of a table use Previous Line To select the next line of a table use Next Line To select the last line of a table use Last Line Create a new Line inserts new lines into the table Delete selected Line deletes the selected line from the table Table 5 Selecting inserting deleting Table Line Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020l05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 15 43 1 4 6 Status Bar The Status Bar displays information about the current state of the DIM The current activity e g the DIM connection state is signaled graphically via icons in the status
33. ormation refer to section Behavior on page 20 Distributed Clock At the pane Distributed Clock the DC Sync mechanism and SyncO and Sync1 can be activated and the parameters Sync 0 Cycle Time Sync 0 Shift Time Sync 1 Cycle Time and Sync1 Shift Time can be determined and set For further information refer to section Distributed Clock on page 25 Process data At pane Process Data the parameters of the Sync Manager are displayed the PDO Assignment and the PDO content For further information refer to section Process Data on page 30 Mailbox At pane Mailbox you can get information on mailbox based data transfer and the CoE CANopen over Ethernet functionality For further information refer to section Mailbox on page 33 Description XML DDF Viewer By use of the XML DDF Viewer a DDF file can be viewed and searched through For further information refer to section XML DDF Viewer on page 38 Table 3 Overview Dialog Panes Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020105EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 14 43 1 4 4 OK Cancel Apply and Help OK Cancel Apply and Help you can use as described hereafter To confirm your latest settings click OK All changed values will be applied on the frame application database The dialog then closes To cancel your latest changes click Cancel Answer to the safety query Configurati
34. r manual accompanying texts documentation etc are protected by German and international copyright law as well as international trade and protection provisions You are not authorized to duplicate these in whole or in part using technical or mechanical methods printing photocopying or other methods to manipulate or transfer using electronic systems without prior written consent You are not permitted to make changes to copyright notices markings trademarks or ownership declarations The included diagrams do not take the patent situation into account The company names and product descriptions included in this document may be trademarks or brands of the respective owners and may be trademarked or patented Any form of further use requires the explicit consent of the respective rights owner 1 2 2 Important Notes The user manual accompanying texts and the documentation were created for the use of the products by qualified experts however errors cannot be ruled out For this reason no guarantee can be made and neither juristic responsibility for erroneous information nor any liability can be assumed Descriptions accompanying texts and documentation included in the user manual do not present a guarantee nor any information about proper use as stipulated in the contract or a warranted feature It cannot be ruled out that the user manual the accompanying texts and the documentation do not correspond exactly to the described features stand
35. re the device parameters using the EtherCAT generic Slave DTM gt Configure the behavior of the EtherCAT Slave as described in section Behavior at page 20 gt On the Behavior page set the parameters for e the Device checkup e the Process data e andthe Watchdog gt Configure the process data of the EtherCAT Slave as described in section Distributed Clock at page 25 gt On the Process Data page set the parameters for e the Sync Manager e the PDO Assignment 0x1C10 0x1C2F e andthe PDO Content 0x1600 0x17FF Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 19 43 3 3 General The General dialog page shows the Description of the EtherCAT Slave Note The Station Address is set by the EtherCAT Master therefore the corresponding data field is not editable Description EL1004 0010 v0 1 Device type EL1004 0010 Device name EL1004 0010 4Ch Dig Input 24V isolated 3ms Product revision 10 Physics Station Address Moke Station Addresses are logical ones and are set in Master DTM Far all slaves Figure 6 Configuration gt General Station Address Station Address denominates a logical address Table 9 General Page Parameters Physics in the context of EtherCAT Port configuration is described by two characters indicating the physical inte
36. re verified against the corresponding information stored in the device for example within an E7PROM circuit if the according check box is marked Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 23 43 3 4 3 Process Data EtherCAT supplies different command sets for reading and writing e acombined read write command LRW e separate read and write commands LRD LWR This option allows to choose between these alternatives Process data Use LRD LWR instead of LR Figure 10 Configuration gt Behavior gt Process data Use LRD LWR Logical read and write operation instead of LRW it marked separate EtherCAT read LRD and write LWR commands will be used Otherwise a combined EtherCAT read and write LRW command will be used Table 12 Parameters Behavior gt Process data For more information on EtherCAT read and write commands see the EtherCAT Communication Specification version 1 0 section 6 2 EtherCAT Services page 43 Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020I05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 24 43 3 4 4 Watchdog Both the entire PDI Process Data Interface and all sync managers Separately are monitored by watchdog timers The follow
37. rface of the connection The coding is as follows w o fems 100Base TX Foo o 100Base FX Table 10 Coding of Parameter Physics Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712020105EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 3 4 Behavior At the page Behavior the parameters of the state machine timeout values the device checkup the process data and the watchdog timer are set and displayed State Machine Timeout ms 2 Peay Sele Back to P I 25 Device checkup Iw VendorID Iw Product code Revision Process data 3000 10000 5000 zul Iw Use LRD LWR instead of LEW Watchdog Set multiplier Reg 400 hi Sek PDI watchdog Reg 410 h ms 100 000 Set 5M watchdog Reg 420 hi ms 100 000 Figure 7 Configuration gt Behavior Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0O712020I05EN Revision 5 English 2013 09 Released Public 20 43 Hilscher 2007 2013 Configuration 21 43 3 4 1 State Machine Timeout For various transitions between states of the EtherCAT slave state machine the associated timeout values can be configured separately in the state machine timeout section of the Behavior dialog e 2P This value applies to the transition from nit state to Pre Operational state e P2S S20 This
38. tees or assurances are made regarding marketability freedom of defect of title integration or usability for certain purposes unless they are required in accordance with the law and cannot be limited Warranty claims are limited to the right to claim rectification Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020105EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Introduction 9 43 1 2 5 Export Regulations The delivered product including the technical data is subject to export or import laws as well as the associated regulations of different counters in particular those of Germany and the USA The software may not be exported to countries where this is prohibited by the United States Export Administration Act and its additional provisions You are obligated to comply with the regulations at your personal responsibility We wish to inform you that you may require permission from state authorities to export re export or import the product 1 2 6 Registered Trademarks Windows XP Windows Vista Windows 7 and Windows 8 are registered trademarks of Microsoft Corporation EtherCAT is a registered trademark of Beckhoff Automation GmbH Verl Germany formerly Elektro Beckhoff GmbH All other mentioned trademarks are property of their respective legal owners Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOC0712
39. wise all subsequent input fields selection lists and check boxes are grayed out and deactivated Sync Unit Cycle The value displayed here is taken from the EtherCAT Master settings Free run cycle time i e the cycle time of the EtherCAT Master running free as it is adjustable not at the EtherCAT Generic Slave but at the EtherCAT Master Therefore the filed is grayed out and disabled here Checkbox Activate Sync 0 Sync 0 can be activated and deactivated by checking and unchecking the check box Activate Sync 0 Cycle Time Note Whether this value can be adjusted or not depends on the Device Description File of the appropriate device Cycle Time Syne unit cycle xz f User defined us Figure 14 Sync 0 Cycle Time The Sync 0 Cycle Time can either be derived from the Sync Unit Cycle Time adjusted at the EtherCAT Master see above by multiplying it with a factor or it can be entered directly For calculating the Sync 0 Cycle Time from the Sync Unit Cycle Time check the check box Sync Unit Cycle The Sync Unit Cycle Time is multiplied with or divided by an adjustable factor The following factors are available within the selector list Generic Slave DTM for EtherCAT Slave Devices Configuration of EtherCAT Slave Devices DOCO712020l05EN Revision 5 English 2013 09 Released Public Hilscher 2007 2013 Configuration 27 43 For specifying the Sync 0 Cycle Time directly check the check box
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