| PCIe-833x axis parameter table |
| NO. | Define | Description | Value | Default | Type |
| 02h (2) | PRA_EL_MODE | Stop mode when EL turns on. Note : Deceleration profile is given according to PRA_SD_DEC. | 0 : Deceleration stop 1: Stop immediately | 0 | I32 |
| 03h (3) | PRA_MDM_CONDI | Motion done condition ( Affective with motion stats NSTP bit) | 0 : Command done; 1: Command done with INP | 0 | I32 |
| 07h (7) | PRA_SD_DEC | Stop deceleration including EL stop, stop function and multi-stop). | Unit : pulse/sec2 | 10000000 0.0 | F64 |
| 08h (8) | PRA_SPEL_EN | Soft PEL enable | 0 : Disable 1: Reserved 2: Soft-Limit (SPEL) | 0 | I32 |
| 09h (9) | PRA_SMEL_EN | Soft MEL enable | 0 : Disable 1: Reserved 2: Soft-Limit (SMEL) | 0 | I32 |
| 0Ah (10) | PRA_SPEL_POS | Soft-end-limit for positive end [ F64 ] | Unit : pulse | 100000.0 | F64 |
| 0Bh (11) | PRA_SMEL_POS | Soft-end-limit for negative end [ F64 ] | Unit : pulse | -100000.0 | F64 |
| | Home mode setting *If user uses EtherCAT home | 0 : home mode 0 (ORG) 1: home mode 1(FE) | 0 | I32 |
# 3.1.2 Save Axis Parameter
There are several buttons for parameter operations at the bottom of the page. After setting parameters according to system settings, you can select the following storage/loading methods:
| Transmit PDO Mapping (TxPDO) |
| Index | Name | Offset (Byte) | Size (Byte) | |
| 0x6040 | Slave_0.Outputs_Axis0.Control Word0 | 0 | 2 |
| 0x607A | Slave_0.Outputs_Axis0.TargetPosition0 | 2 | 4 |
| 0x60B8 | Slave_0.Outputs_Axis0.TouchProbeControl0 | 6 | 2 |
| 0x60FE | Slave_0.Outputs_Axis0.MotionOutput0 | 8 | 4 |
| 0x3200 | Slave_0.Outputs_Axis0.CMPCtrl0 | 12 | 4 |
| 0x3201 | Slave_0.Outputs_Axis0.LatchCtrl0 | 16 | 4 |
| 0x3202 | Slave_0.Outputs_Axis0.TC0Data1 | 20 | 4 |
| 0x3203 | Slave_0.Outputs_Axis0.TC0Data2 | 24 | 4 |
| 0x3204 | Slave_0.Outputs_Axis0.TC0Data3 | 28 | 4 |
| 0x3205 | Slave_0.Outputs_Axis0.TC0Data4 | 32 | 4 |
| TxPDO Configuration |
| Offset Size Value Write |
| Recieve PDO Mapping (RxPDO) |
| Index | Name | Offset (Byte) | Size (Byte) | Value |
| 0x603F | Slave_0.Inputs_Axis0ErrorCode0 | 0 | 2 | 2 |
| 0x6041 | Slave_0.Inputs_Axis0.Status Word0 | 2 | 2 | 5640 |
| 0x6064 | Slave_0.Inputs_Axis0.ActualPosition0 | 4 | 4 | 0 |
| 0x60B9 | Slave_0.Inputs_Axis0.TouchProbeResponse0 | 8 | 2 | 0 |
| 0x60BA | Slave_0.Inputs_Axis0.TouchProbeOPositiveEdge0 | 10 | 4 | 0 |
| 0x60FD | Slave_0.Inputs_Axis0.MotionInput0 | 14 | 4 | 150994952 |
| 0x6061 | Slave_0.Inputs_Axis0.ModeOfOperationDisplay0 | 18 | 1 | 8 |
| 0x3208 | Slave_0.Inputs_Axis0.CMPStatus0 | 19 | 4 | 65601280 |
| 0x3209 | Slave_0.Inputs_Axis0.CMPCurrentPos0 | 23 | 4 | 0 |
| 0x320A | Slave_0.Inputs_Axis0.LatchStatus0 | 27 | 4 | 536870912 |
# 3.11 SDO
The SDO (Process Data) page can read and write OD (Object Dictionary) data through SDO communication to obtain the slave-specific data. SDO additionally supports parameter configuration and status monitoring.
Click (Slave x) xxxxx xxxx in the device tree and then click the SO icon.
The SDO Mapping Editor page has four sub-pages.
# General
(1) Slave State Control: Set EtherCAT slave state.
(2) Remote Update: Update file over EtherCAT. (Contact ADLINK for details.)
# Slave PDO
Slave PDO lists the object dictionaries that the slave can operate through the PDO, using the Read and Write buttons.
(1) Write: Input the SubModule and Index of the operation Name OD in TxPDO table, and enter the corresponding Value by referring to Data Type Name and Bit Length, and then click Write.
(2) Read: Input the SubModule of the operation name OD in the RxPDO table, Index and then click Read to get its value.
# ESC Register Operation
Read and write information pages for EtherCAT Slave Controller.
# SDO Dictionary
The SDO Dictionary page lists all the service data objects the user can manipulate.
(1) Read: Enter Index and SubIndex, and click Read to display the desired Value in the value field.
(2) Write: Enter Index, SubIndex,Value and click Write to set the desired values.
# 3.12 Field module
ADLINK Slave-specific pages, depending on Slave Axis or Slave IO, have different rendering functions.
# 3.12.1 ADLINK Slave Axis
To open the Field module page, click Slave x on the device tree, and then click the Field module icon.
Using an ECAT-4XMO, for example, the information is divided into two areas.
(1) Displays the status of each axis.
(2) Common SDO configuration support settings for an ADLINK slave.
# 3.12.2 ADLINK Slave IO
Click DIO or AIO in the device tree, and then click the Field Module icon.
Using an EU-6000, for example, the information is divided into four different DIO and AIO settings.
# 3.13 Axis Info
The Axis info page monitors new or removed custom multi-axis motion states, commands, feedback, speed, acceleration, etc. for data monitoring.
To open the multi-axis information page, click Slave x or Motion on the device tree, and then click the Axes Info icon.
The multi-axis information page content is as follows.
Add Row: Add columns from multiple monitoring sources, such as Cmd\_Pos, Cmd\_Vel, Fbk\_Pos, Fbk\_Vel and other monitoring sources.
Del Row: Deletes the selected monitoring source column.
Clear All: Deletes all monitoring source columns.
Add Column: Adds a row with multiple monitoring axes. You can select the axis number to be monitored from the drop-down list.
Del Column: Deletes the selected monitoring axis.
Clear All: Deletes all monitoring axes.
# 3.14 Advanced Point Table
The advanced point table provides the function of two-dimensional multi-point continuous motion planned by the user and displays the motion trajectory on the chart. The motion content includes absolute linear motion, circular motion or relative linear motion, and circular motion. Users can set the basic parameters of each point motion and save the file for later use.
To open APT page, click Slave x on the device tree, and then click the APT icon.
# 3.14.1 Drawing Area
The two-dimensional point movement track set by the user can be displayed in area (1). The green line (Path Planning) is the trajectory of the control command, and the pink line (Tracer Path) is the trajectory of the actual movement.
The drawing function (2) is set as follows:
Path Source: Actual motion position or command position
Axis X,Y: Selects the axis ID of the 2D motion
Tracer Path Clear: Clears the actual path from the drawing area
Path Redraw: Redraws the control command trajectory
# 3.14.2 Configuration Area
Right-click on the Point Table List to add or delete point movements.
Click in the grid to edit the information of the motion command. For example, the position of Point 0, Axis X, is 100000.
Right-click in an Option cell to access advanced configuration options, such as Abs (absolute motion), Rel (relative motion), Linear (linear), Arc (Arc), etc.
# 3.14.3 Operation Area
Click the Operation tab to see the following options.
(1) Use these values to monitor the command and feedback position of the two axes.
(2) Use these values to monitor the current point to which the command has been executed, the buffer status of the point table, and which point table to select.
(3) Use these values to monitor the execution time, feeder status and buffer status of the dot filler. Additional functions include:
Start: Start point table motion.
Stop: Stop point table motion.
Pause: Pause point table motion.
Rollback: In Pause state, use the speed set by VRback to return to the previous motion position.
Resume: Resume from pause.
# 3.15 Manual Settings Slave ID (Manual ID)
Manual ID allows the user to set the ID of each Slave.
To open the Manual ID page, click Slave x in the device tree, and then click the Manual ID icon.
Information about the Manual ID includes:
Auto Slave ID: Slave IDs that are automatically sorted from 0 to 63335 are listed in this table.
Manual Slave ID Source: Currently, PCI-833X is configured to read from the ESC Configured Station Alias Register and is defined as SII. The other mode gets the information for the ID-Selector by reading the AL Status Code defined as AL Control. This information needs to be combined with board parameter to select different reading modes to read ID information. For these settings, refer to the APS Function Library manual.
Manual Slave ID: Editable Slave ID.
Save to Slave: Writes the configured Slave ID to the EEPROM of the Slave.
Save to File: Saves configuration as an xml file.
Load From File: Loads an xml file and displays it in the table.
# 3.16 DSP/Kernel Performance
DSP/Kernel Performance provides the user's current EtherCAT cycle time and motion cycle time, consumption time, and load, as well as the user's settings for changing the current cycle time.
To open the DSP/Kernel Performance, click Card No x on the device tree, and then click the DSP Performance or Kernel Performance icon as necessary.
# 3.16.1 DSP Performance
| AMP-304C Trigger parameter table |
| NO | Define | Description | Value | Default : |
| 0x00 | TGR_LCMP0_SRC | Linear compare 0 (LCMP0) source | 0 ~ 3 : Pulse counter 0~3
8 : Timer 0 counter
9 : Disable | 9 |
| 0x01 | TGR_LCMP1_SRC | Linear compare 1 (LCMP1) source | 0 ~ 3 : Pulse counter 0~3
8 : Timer 0 counter
9 : Disable | 9 |
| 0x02 | TGR_TCMP0_SRC | Table compare 0 (TCMP0) source | 0 ~ 3 : Pulse counter 0~3
8 : Timer 0 counter
9 : Disable | 9 |
| 0x03 | TGR_TCMP1_SRC | Table compare 1 (TCMP1) source | 0 ~ 3 : Pulse counter 0~3
8 : Timer 0 counter
9 : Disable | 9 |
| 0x04 | TGR_TCMP0_DIR | Table compare 0 (TCMP0) direction | 0 : Negative direction
1 : Positive direction
2 : Bi-direction(No direction) | 1 |
| 0x05 | TGR_TCMP1_DIR | Table compare 1 (TCMP1) direction | 0 : Negative direction
1 : Positive direction
2 : Bi-direction(No direction) | 1 |
| 0x06 | TGR_TRG_EN | TRG 0 ~ 3 enable by bit | Bit x : (0 : disable, 1 : enable)
Bit 0 : TRG0 enable, | 0 |
# (5) Linear Comparator Setting: [ADD CONTENT]
(6) Table Comparator Setting: Sets the table comparator values.
# (7) Timer Setting: 計時器設定
# 3.18 Latch
The position latch function allows the user to latch an instant position and then make a corresponding signal output or motion response to the position.
To open the Latch page, click Axis x on the device tree column, then click the Latch icon.
Latch configuration options are shown below.
(1) Latch FIFO status: Regularly updates the FIFO status of channels selected by users, and resets and usage the status.
(2) Latch Get Point Array: Obtains the FIFO point information of the channel selected by the user, including the location and source of the latch. When not in use, right-click to select a single point or delete all the information.
(3) Latch FIFO Configuration: Sets parameters related to Latch, such as latch channel number, source, latch encoder number and latch logical conditions, etc., and can be enabled after configuration is complete. For setting parameters, refer to the APS Function Library manual Table definition-> Latch parameter table. This example is for ADLINK's 4XMO, so the corresponding manual content is shown below.
# 3.19 OPT Device OD
The OPT Device OD page is an extension of the SDO page. Users can choose to read and write the Object Dictionary (OD) data of the SDO to obtain the specific data of the Slave and monitor it.
To open the OPT Device OD, click Slave x in the device tree column, and then click the OPT Device OD icon.
OPT Device OD function settings are shown below.
(1) +/ -OD is the SLAVE SDO that generates the selection.
(2) The generated OD Data will be displayed under Available. Double-click a project or use the right arrow button in the middle of the window to select the desired OD Data.
(3) The selection results display in the User Defined OD tab.
(4) The page displays the OD information. If there is no information in the right panel, click Write to write the OD Data.
(5) Additional functions include:
WriteALL: Writes all OD Data at once
Save To File: Saves user defined OD Data (\*.csv format)
Load From File: Imports custom OD Data (\*.csv format)
# 3.20 IO Mapping
# 3.20.1 Ether CAT
Use the MCP2 IO-mapping form to perform mapping and checking operations. The maximum number of software port in slave is 32 for each IO type.
# Notes:
1. Manually changing the contents of the IO mapping configuration file is not recommended.
2. The IO mapping GUI is only available via MCP2. Users should download the configuration file API from ADLINK. [PROVIDE DOWNLOAD LINK]
3. Configuration file can be save to "CSV" file by MCP2 IO-mapping form.
4. No need to map module that ADLINK had integrated.
# Step-by-step instructions to set up IO mapping using MCP2.
Step 1: Update kernel version in C: \Program Files (x86)\ADLINK\PCIe-833x\Kernel Update. The kernel version must be 2022050503\_833x\_kernel or later.
Step 2: After connecting the field bus and selecting EtherCAT IO in the tree view (1), click the IO Mapping icon (2) to start setting up IO mapping.
Step 2-1 (Select DIO mapping): Select the slave IO for mapping. Refer to Configurable PDO view and input the corresponding parameters.
○1 Select the slave IO for mapping and refer Configurable PDO view.
○2 Select the IO type that needs to be set.
○3 Enter SlaveID data for mapping slave IO. Fill in the corresponding SubMod No. Refer to SubMod No. in Configurable PDO View. Fill in the starting index. Refer to Index in Configurable PDO View.
○4 Fill in the Access Length to define the IO-bit required by the port.
# DIO mapping parameters:
SlaveID: Mapping of slave IO.
SubMod No.: Configurable PDO view
Index: Access start index according to index in Configurable PDO view.
Access Length: Access port length according to Bit Length in configurable PDO view content.
Maximum: 32 bits
Minimum: 1 bit
Port\_No: Automatically generated.
Step 2-2 (Select AIO mapping ): Select the slave IO for mapping. Refer to Configurable PDO view and input corresponding parameters.
○1 Select slave IO for mapping. Refer to Configurable PDO view.
○2 Select the IO type that needs to be set.
○3 Fill in SlaveID fill for mapping slave IO. Fill in the corresponding SubMod No. Refer to SubMod No in Configurable PDO View. Index fills in the starting index. Refer to Index in Configurable PDO View.
○4 Fill in Access Length to define the IO-bit required by the port.
○5 Fill in LowerBound physical lower limit. Fill in UpperBound physical upper limit. Fill in Data type Representation type:
0: Unsigned integer
1: Signed integer
2: Absolute value with MSB as sign
3: Raw data)
# AIO mapping parameters:
SlaveID: Mapping of slave IO.
SubMod No.: Configurable PDO view
Index: Access start index according to index in configurable PDO view content.
Access Length: Access channel length according to Bit Length in configurable PDO view. Note: need correct length.
LowerBound: Physical lower limit.
UpperBound: Physical upper limit.
Data type: Representation type
Type 0 (Unsigned integer) E.g., for 16 bits = 0 to +65535
Type 1 (Signed integer) E.g., for 16 bits = -32768 to +32767
Type 2 (Absolute value with MSB as sign) E.g., for 16 bits = -32767 to +32767
Type 3 (Raw data)
Ch\_No: Automatically generated.
# Step 2-3 (User Defined PDO Mapping): Adding and deleting rows can be done with two methods:
1. Right-click on the table.
2. Use the keyboard to Add (Ctrl+Enter), or Delete (Ctrl+Delete).