# Slot 3 Menu 0 − EtherCAT Setup

Mode: RFC‑S

This menu provides some common fieldbus option parameters used for basic housekeeping and information.

Parameter | 3.00.001 Module ID
--- | ---
Short description | Module Identification
Minimum | 0 | Maximum | 65535
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | Once only after a reset
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

The Module ID. EtherCAT = 435

Parameter | 3.00.002 Software Version
--- | ---
Short description | Software Version
Minimum | 0 | Maximum | 99999999
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Once only after a reset
Display Format | Version | Decimal Places | 0
Coding | RO, ND, NC, PT

Module firmware version in ww.xx.yy.zz format. The underlying value is a 32 bit interger whose value is ww * 1000000 + xx * 10000 + yy * 100 + zz.

Parameter | 3.00.003 Hardware version
--- | ---
Short description | Hardware version
Minimum | 0.00 | Maximum | 655.35
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | Once only after a reset
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT, BU

Contains the module’s hardware version information in the format xx.yy. The underlying value is a 16 bit interger whose value is xx * 100 + yy

Parameter | 3.00.004 Serial Number LS
--- | ---
Short description | Serial Number Least Significant part
Minimum | 0 (Display: 00000000) | Maximum | 99999999 (Display: 99999999)
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Once only after a reset
Display Format | Lead Zero Pad | Decimal Places | 0
Coding | RO, ND, NC, PT

The module serial number is available as a pair of 32 bit values where Serial Number LS Serial Number LS (3.00.004) provides the least significant 8 decimal digits and Serial Number MS Serial Number MS (3.00.005) provides the most significant 8 decimal digits. The reconstructed serial number is (( Serial Number MS (3.00.005) * 100000000) + Serial Number LS (3.00.004) ). For example serial number "0001234567898765" would be stored as Serial Number MS (3.00.005) = 12345, Serial Number LS (3.00.004) = 67898765.

Parameter | 3.00.005 Serial Number MS
--- | ---
Short description | Serial Number Most Significant part
Minimum | 0 | Maximum | 99999999
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Once only after a reset
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Serial Number LS Serial Number LS (3.00.004).

Parameter | 3.00.006 Status
--- | ---
Short description | Status of the Module
Minimum | -3 | Maximum | 3
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, TE, ND, NC, PT

Value | Text | Description
-3 | BootStrap | Master has requested boot strap mode
-2 | Bootldr - Update | The bootloader is performing a flash update
-1 | Bootldr - Idle | The bootloader is idle
0 | Initialising | Initialising
1 | OK | Module is initialised with no errors present
2 | Config | A configuration error has been detected
3 | Error | An error has occured preventing the module from running correctly

Status of the Module

Value | Text | Description
-3 | BootStrapping | The bootstrap RAM image running
-2 | Bootldr – Update | The bootloader is performing a flash update
-1 | Bootldr – Idle | The bootloader is idle
0 | Initializing | The firmware is currently Initializing.
1 | OK | The firmware is initialized, and no errors have been detected.
2 | Config | A configuration error has been detected.
3 | Error | An error has occurred preventing the firmware from running correctly.

Parameter | 3.00.007 Reset
--- | ---
Short description | Set true to perform warm Reset
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Read every 200ms, Written to 0 on module initialisation
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

When set the module performs a warm reset. The parameter is read every 200 ms and when it is seen as true, the Module is "stopped" with a wait of 500 ms for all functionality to cease. After this the module is reset and the parameter will be cleared to zero. Note: The drive, and any other modules fitted to the drive will not be affected by the reset. The Module parameter values in the setup menu will remain the same as that before the warm reset. Any parameters that are only read at power up will be read during a warm reset.

Parameter | 3.00.008 Default
--- | ---
Short description | Set ON to default on warm reset
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Read when reset value is ON, Written to 0 on module initialisation
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If set to “ON” when the module reset parameter is set to "ON", this parameter will cause the option module to return to its "Out of Box configuration" any settings stored on the module will be returned to their default values (Currently there are no such settings stored so defaulting has no effect, but this could change in the future). Following the default the module will set the parameter to "OFF" and the module will reset.

Parameter | 3.00.010 EtherCAT RUN Status
--- | ---
Short description | EtherCAT RUN Status
Minimum | 1 | Maximum | 8
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, TE, ND, NC, PT, BU

Value | Text | Description
1 | NET RN Init | Initial
2 | NET RN PreOp | Pre Operational
3 | NET RN Boot | Boot
4 | NET RN SafeOp | Safe Operational
5 | Unknown State | Unknown State
6 | Unknown State | Unknown State
7 | Unknown State | Unknown State
8 | NET RN Op | Operational

This parameter displays the EtherCAT Conformant run state. The text displayed conforms to ETG1300.

Value | Enum | Description
Init | 1 | Network in the initialisation state
PreOp | 2 | Network up, but PDOs not exchanged. Configuration can be performed
SafeOp | 4 | Network up and only input PDOs are exchanged
OP | 8 | Network up all PDOs are being exchanged

Parameter | 3.00.031 Slot indicator
--- | ---
Short description | Slot the option is installed in
Minimum | 1 | Maximum | 8
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Once only after a reset
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

The parameter displays the number of the virtual option slot on the drive that the module is connected to. The values for the slots are 1 to 8, where the onboard slot is 4.

Parameter | 3.00.032 Slot menu number
--- | ---
Short description | The Setup menu for this module
Minimum | 0 | Maximum | 255
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Once only after a reset
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

The parameter displays the Setup menu number of the option slot on this drive.

Parameter | 3.00.033 Drive has control
--- | ---
Short description | Set On to prevent EtherCAT from controlling the drive
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Approx every 10ms on Servo Drives, every 100 ms otherwise
Display Format | Standard | Decimal Places | 0
Coding | RW

In normal operation (Off); at various points in EtherCAT and CiA402 operation, a number of drive parameter values will be modified by the option module. This is because the CiA402 profiles are layered on top of drive functionality. For example CSP motion profiles use the AMC, and hence writes to AMC parameters.

Setting this parameter to On will request that control of the drive should be stopped. This will prevent an EtherCAT master from controlling the drive once the control word enable parameter is disabled. If the module is currently in OPERATION_ENABLED it will cause a Fault reaction to take place before the control word enable is disabled.

This parameter must be set back to Off for normal operation.

####

Parameter | 3.00.034 Allow EEPROM Upgrade
--- | ---
Short description | Configure EEPROM update action on reset
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit Volatile | Update Rate | Read once after reset
Display Format | Standard | Decimal Places | 0
Coding | RW, TE, NC, PT

Value | Text | Description
0 | Off | This does not allow the user to update EEPROM.
1 | User Update | This allows the user to update the EEPROM using ECMP.
2 | Force Default | Default EEPROM back to original state. Effective after reset.

This allows the data in the EtherCAT configuration EEPROM to be upgraded (a.k.a the SII see ETG2010 for details). This is used by setting this parameter and performing a option reset; the parameter cannot be saved.

Options are:

Value | Description
OFF | Normal EtherCAT operation, EEPROM (SII) is only accessible via the EtherCAT master
USER UPGRADE | EtherCAT network interfaces are disabled. The User can download a new EEPROM (SII) dataset over eCMP.
FORCE DEFAULT | At Power up the contents of the EEPROM (SII) are defaulted to the factory values. After power up this parameter is set back to OFF

Parameter | 3.00.035 ECAT Device ID
--- | ---
Short description | Set the EtherCAT Explicit Device ID
Minimum | 0 | Maximum | 65535
Default | 0 | Units |
Type | 16 Bit User Save | Update Rate | For request Mode on transition to INIT. For Legacy Mode, at power up
Display Format | Standard | Decimal Places | 0
Coding | RW, PT, BU

This parameter is used to configure an Explicit EtherCAT Device ID, which can be used to uniquely identify a particular slave. A value of 0 disables Explicit Device ID. If this value is changed, it is necessary to reset the option for the new value to take effect (e.g. by saving parameters and performing a power cycle). If this value is left at the default value of zero, any value stored in the EtherCAT EEPROM (SII) will take precedence (except on a M753). If the value in the EEPROM and value here are both non-zero a race condition is flagged as per ETG1020.

On a M753 the rotary switch takes precedence over this value; that is, if the rotary switch is set to any value other than zero, this parameter is ignored and the value from the rotary switch is used instead.

Parameter | 3.00.036 Consistency trigger for synchronous outputs
--- | ---
Short description | Consistency trigger for synchronous outputs
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Standard | Decimal Places | 0
Coding | RW

See Consistency trigger parameter for synchronous outputs (3.00.037) for details.

Parameter | 3.00.037 Consistency trigger parameter for synchronous outputs
--- | ---
Short description | Consistency trigger parameter for synchronous outputs
Minimum | 0 | Maximum | 999999
Default | 0 | Units |
Type | 32 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Slot Menu Parameter | Decimal Places | 0
Coding | RW, DE

When the output consistency is enabled (in Consistency trigger for synchronous outputs (3.00.036)), this configured parameter is used to control the data exchange, ensuring skew does not occur; a user program, etc, must check the configured parameter is 1 before reading the data received over the EtherCAT network, and it should clear the parameter to 0 after all the data has been read.

The EtherCAT Module will check that the parameter is 0 before writing RxPDO destinations and will set the parameter to 1 after the RxPDO destinations have been written.

Parameter | 3.00.038 Consistency trigger for synchronous inputs
--- | ---
Short description | Consistency trigger for synchronous inputs
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Standard | Decimal Places | 0
Coding | RW

See Consistency trigger parameter for synchronous inputs (3.00.039) for details

Parameter | 3.00.039 Consistency trigger parameter for synchronous inputs
--- | ---
Short description | Consistency trigger parameter for synchronous inputs
Minimum | 0 | Maximum | 999999
Default | 0 | Units |
Type | 32 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Slot Menu Parameter | Decimal Places | 0
Coding | RW, DE

When the input consistency is enabled (in Consistency trigger for synchronous inputs (3.00.038)), this configured parameter is used to control the data exchange, ensuring skew does not occur; a user program, etc, must check the configured parameter is 0 before writing the data to be transmitted over the EtherCAT network, and it should set the parameter to 1 after all the data has been written.

The EtherCAT Module will check that the parameter is 1 before reading TxPDO sources and will set the parameter to 0 after the TxPDO sources have been read.

Parameter | 3.00.040 Consistency trigger for non-synchronous outputs
--- | ---
Short description | Consistency trigger for non-synchronous outputs
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Standard | Decimal Places | 0
Coding | RW

See Consistency trigger for non-synchronous outputs (3.00.040) for details

Parameter | 3.00.041 Consistency trigger parameter for non-synchronous outputs
--- | ---
Short description | Consistency trigger parameter for non-synchronous outputs
Minimum | 0 | Maximum | 999999
Default | 0 | Units |
Type | 32 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Slot Menu Parameter | Decimal Places | 0
Coding | RW, DE

When the output consistency is enabled (in Consistency trigger for non-synchronous outputs (3.00.040) ), this configured parameter is used to control the data exchange, ensuring skew does not occur; a user program, etc, must check the configured parameter is 1 before reading the data received over the EtherCAT network, and it should clear the parameter to 0 after all the data has been read.

The EtherCAT Module will check that the parameter is 0 before writing RxPDO destinations and will set the parameter to 1 after the RxPDO destinations have been written.

Parameter | 3.00.042 Consistency trigger for non-synchronous inputs
--- | ---
Short description | Consistency trigger for non-synchronous inputs
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Standard | Decimal Places | 0
Coding | RW

See Consistency trigger parameter for non-synchronous inputs (3.00.043) for details

Parameter | 3.00.043 Consistency trigger parameter for non-synchronous inputs
--- | ---
Short description | Consistency trigger parameter for non-synchronous inputs
Minimum | 0 | Maximum | 999999
Default | 0 | Units |
Type | 32 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Slot Menu Parameter | Decimal Places | 0
Coding | RW, DE

When the input consistency is enabled (in Consistency trigger for non-synchronous inputs (3.00.042) ), this configured parameter is used to control the data exchange, ensuring skew does not occur; a user program, etc, must check the configured parameter is 0 before writing the data to be transmitted over the EtherCAT network, and it should set the parameter to 1 after all the data has been written.

The EtherCAT Module will check that the parameter is 1 before reading TxPDO sources and will set the parameter to 0 after the TxPDO sources have been read.

Parameter | 3.00.045 Homing Position Save
--- | ---
Short description | Enable homing position user save
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, PT

Used to control if Homing Position is saved and used at start-up, see Homing Position Parameter (3.00.046) for details.

Parameter | 3.00.046 Homing Position Parameter
--- | ---
Short description | Menu 18 user save parameter used to save homing position
Minimum | 51 | Maximum | 54
Default | 51 | Units |
Type | 8 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, PT

This parameter is used to define the parameter in menu 18 that is used to save the homing position. This is limited to the 32bit User save parameters. The defined parameter will be updated at the end of homing and then read on initiasiation as the Homing Position if Homing Position Save (3.00.045) is set to true.

Parameter | 3.00.047 FSoE Black Channel Enable
--- | ---
Short description | Enable the FSoE Black Channel
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Read on reset
Display Format | Standard | Decimal Places | 0
Coding | RW, PT

The EtherCAT module evaluates this parameter during the reset: if it set to “On”, the black channel is enabled, starting the handshake communication with the MiS2x0. If the parameter value is “Off” during reset, no FSoE functionalities are available and no related constraints apply.

Please note that the status of this parameter doesn’t indicate if the exchange of the FSoE frames with the MiS2x0 module is active: the FSoE Black Channel State (3.01.006) shall be referred instead.

Any changes to this parameter have no effect if the module is not reset.

Parameter | 3.00.048 Compatibility
--- | ---
Short description | Compatibility selection bit mask
Minimum | 0 (Display: 0000000000000000) | Maximum | 65535 (Display: 1111111111111111)
Default | 0 (Display: 0000000000000000) | Units |
Type | 16 Bit User Save | Update Rate | Read on reset
Display Format | Binary | Decimal Places | 0
Coding | RW, PT, BU

Compatibility Parameter. It is not recommended to use this parameter (leave set to value 0), only use if it really necessary for Backwards Compatibility Purposes. This is a bit mask of 16 bits, each bit defines a legacy feature(s) to be enabled. Enabing a Legacy feature means SI-EtherCAT is no longer fully Conformant. This parameter will be subject to change between releases, ask CT for further details if required.

Parameter | 3.00.049 Drive Type/Mode Override
--- | ---
Short description | Override Drive Type/mode to support PLC compatibility
Minimum | 0 | Maximum | 4
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Read on reset
Display Format | Standard | Decimal Places | 0
Coding | RW, TE, PT, BU

Value | Text | Description
0 | None | Default
1 | Unidrive SP | SP Compatibility mode
2 | Mode Agnostic | Don't report drive mode in Product Code
3 | M200 Override | Report as M200 in product code
4 | M300 Override | Report as M300 in product code

The EtherCAT module evaluates this parameter during the reset. The parameter determines the product code reported to the PLC.

None | No over-ride and hence standard Unidrive product code is reported
Unidrive SP | Report a product code as if the Drive was a SP drive, this also effects the size and type of some objects (to emulate a SP drive). Use ESI files for SM-EtherCAT
Mode Agnostic | Report a product code that does not include the drive Mode. This means the product code is fixed to same value no matter which drive mode is selected. Special ESI files need to be used.