Network Define (ec_network.def)
The operations of EcPlatform can be set in the ec_network.def file. This file should be put in same folder as the EcPlatform.rtdll file.
All the names and value of settings in the ec_network.def file are case insensitive.
All settings are set in the format: name = value
These settings can be classified into several categories:
Section Separators
Settings can be defined under one of the following sections, or at the beginning of the file.
Name |
Description |
Valid Values |
|---|---|---|
[General] |
The info for all masters. |
|
[Master x] |
The info of master x. |
x: 0-1 |
[Slave x] |
The info of slave x. |
x: 0-255 |
[General]:
All parameters under the [General] section at the beginning of the file will apply to all masters (unless the master overwrites that parameter inside its own section).
[Master x]:
When configuring more than one master, use the [Master x] section (where x is the master number) to separate the parameter settings to apply to each master.
If there is only one master, there is no need to designate any master sections, as the defined parameter settings will apply to the one master.
All parameters under the [Master x] section and before the next master section will apply only to master x.
To use multiple masters, the NumOfMaster and NumOfInterrupt parameters in the Module.ini file must be configured appropriately. See Module.ini for additional information.
[Slave x]:
When the UserDef setting for a master is set to 1, use the [Slave x] section (where x is the slave number) to separate the parameter settings to apply to each slave.
If there is only one master and there are no master sections, the slave sections can be defined anywhere after the line UserDef = 1.
If there are multiple masters, the slave sections can be defined anywhere after the line UserDef = 1 within each master section. Each slave section will belong to the master section that contains it.
Slave numbers start from 0 for each master. For example, if there are two masters with two slaves each, [Slave 0] and [Slave 1] sections should be defined inside both master sections.
Master Settings
The following table contains the settings that apply to the master, and their valid values.
Name |
Description |
Valid Values |
Default |
|---|---|---|---|
[Master x] |
The info of master x. |
x: 0-1 |
|
DcMode |
Use DC mode. |
0: DC Off 1: DC On |
1 |
CommCycle |
Communication period. |
8000: 8ms 4000: 4ms 3000: 3ms 2000: 2ms 1000: 1ms 500: 500us 250: 250us 125: 125us |
1000 |
CycleMode |
How many cycles after which master starts to process the sent frame. |
0-3 |
1 |
PrintLog |
Print setting and statistics log after communication is stopped. |
0: Off 1: On |
0 |
FirstDcSlaveIndex |
Specify the slave to use as the DC master. |
The order index of the slave in the EtherCAT network. Count from 0. |
N/A |
InaccessCount |
The number of consecutive AL status check failures before determining that a slave is inaccessible. |
1-100 |
10 |
TransmitTimeout |
The wait time before determining a packet as having timed out. |
>= 500, Unit: us |
500 |
ProcessingDelay |
Specify the PU (Processing Unit) processing time of all slaves. |
Unit: ns |
20 |
ForwardingDelay |
Specify the forward delay of all slaves. |
Unit: ns |
5 |
DcDiffRangeH |
Specify the DC Diff Upper limit. |
0-100, Unit: % |
80 |
DcDiffRangeL |
Specify the DC Diff Lower limit. |
0-100, Unit: % |
60 |
DcDiffShiftRatio |
Shift ratio when adjusting DC Diff. |
1-99, Unit: % |
50 |
DcDiffDetectSlaveId |
Specify the slave id of the slave whose DC diff is detected printed out to RTXServerConsole when communication is stopped. |
Slave id |
N/A |
HaltOnNetworkDiff |
When the network information is different from the one defined by the user, communication cannot be started. |
0: Off 1: On |
0 |
MessageLevel |
Specify the level that determines which messages will be printed to RTXServerConsole. This setting will override the one set in Modules.ini. |
0: Error Level. Only error message. 1: Warning Level. Error message and warning message. 2: Setting Level. Error message, warning message, and setting message. 3: Debug Level. Error message, warning message, setting message, and debug message. |
0 |
UseAliasAsAxisIndex |
Automatically map the alias no. of the servo to its axis index. If same aliases are set for different servos, an error will be raised and communication cannot be started. |
0: Off 1: On |
0 |
TurnOffOnTopoChange |
Automatically stop communication when the topology of the network changes while in the communicating state. |
0: Off 1: On |
0 |
HaltOnReverseSlave |
Start communication will fail if a reversed connected slave is detected. |
0: Off 1: On |
0 |
EniFolder |
Set the path of the ENI folder where ENI files are searched by default. |
Null-terminated string that specifies the full path name of the ENI folder. No more than 255 characters. |
C:\eni |
UseLRW |
Use LRW command to send and receive Tx and Rx PDO data. |
0: Off 1: On |
0 |
Init2PreOpWaitTime |
The maximum wait time for all slaves to transition from Init state to PreOp state. |
>= 500, Unit: ms |
8000 |
PreOp2InitWaitTime |
The maximum wait time for all slaves to transition from PreOp state to Init state. |
>= 500, Unit: ms |
3000 |
PreOp2SafeOpWaitTime |
The maximum wait time for all slaves to transition from PreOp state to SafeOp state. |
>= 500, Unit: ms |
10000 |
SafeOp2PreOpWaitTime |
The maximum wait time for all slaves to transition from SafeOp state to PreOp state. |
>= 500, Unit: ms |
3000 |
SafeOp2OpWaitTime |
The maximum wait time for all slaves to transition from SafeOp state to Op state. |
>= 500, Unit: ms |
5000 |
Op2SafeOpWaitTime |
The maximum wait time for all slaves to transition from Op state to SafeOp state. |
>= 500, Unit: ms |
5000 |
TotalWaitTime |
The maximum total wait time for all slaves to transition from Init state to Op state or Op state to Init state. |
>= 1500, Unit: ms The ratio of init2preop, preop2safeop, and safe2op is 8:10:5. The ratio of preop2init, safeop2preop, and op2safe is 1:1:1. |
23000 for Init to Op. 9000 for Op to Init |
NotWaitAllSlaveOp |
If this function is on, communication will be started successfully even if not all slaves go to the Op state after the wait timeout. Otherwise, communication will fail if any slave is not in Op state after the wait timeout. |
0: Off 1: On |
0 |
CopyCmdIfNoFbPdo |
If this option is on, slaves with no position/velocity/torque feedback mapped to the PDO will set the position/velocity/torque feedback equal to the command and also set the corresponding feedback support status. |
0: Off 1: On |
0 |
EniFile[n] |
Set the full ENI file path for the slave whose index is n when UserDef is not set. If UserDef is set, this setting will become unavailable. |
Null-terminated string that specifies the full path name of the ENI file for the slave. No more than 255 characters. |
See the search order of ENI file |
SlaveInitThread |
Specify the number of slave initialization threads. |
1-32 |
32 |
UserDef |
Define the network information. |
0: Off 1: On |
0 |
PPMode |
Enable or disable PP mode. |
0: Off 1: On |
0 |
PPStartDelay |
The delay of new set-point bit in control word is set after start profile position movement. |
0-128, Unit:cycle |
3 |
ResetInput |
Reset the input data of a slave when it becomes offline. |
0: Off 1: On |
0 |
ResetOutput |
Reset the output data of a slave when it becomes offline. |
0: Off 1: On |
0 |
Slave Settings
The following table contains the settings that apply to a slave, and their valid values.
Name |
Description |
Valid Values |
Default |
|---|---|---|---|
Vendorid |
Specify the Vendor Id (of the slave). |
4 bytes Hex |
N/A |
ProductCode |
Specify the Product Code (of the slave). |
4 bytes Hex |
N/A |
Alias |
Specify the Alias (of the slave). |
4 bytes Hex |
N/A |
Revision |
Specify the Revision No. (of the slave). |
4 bytes Hex |
N/A |
Serial |
Specify the Serial No. (of the slave). |
4 bytes Hex |
N/A |
Axis or Axis0 |
Specify the axis index of the first axis (of the slave). |
0-127 |
N/A |
Axis1 |
Specify the axis index of the second axis (of the slave). |
0-127 |
N/A |
Axis2 |
Specify the axis index of the third axis (of the slave). |
0-127 |
N/A |
… |
Specify the axis index of the n-th axis (of the slave). |
0-127 |
N/A |
Axis15 |
Specify the axis index of the fifteenth axis (of the slave). |
0-127 |
N/A |
InAddr |
Specify the IO input address (of the slave). |
0-7999 |
N/A |
InSize |
Specify the IO input size (of the slave). |
InAddr + InSize <=8000 |
N/A |
OutAddr |
Specify the IO output address (of the slave). |
0-7999 |
N/A |
OutSize |
Specify the IO output size (of the slave). |
OutAddr + OutSize <=8000 |
N/A |
EniFile |
Specify the full path of the ENI file (of the slave). |
Null-terminated string that specifies the full path name of the ENI file. No more than 255 characters. |
N/A |
PuprocDelay |
Specify the PU process time (of the slave). |
Unit: ns |
N/A |
ForwardDelay |
Specify the forward delay (of the slave). |
Unit: ns |
N/A |