PDO Configuration

Overview

The process data transferred by an EtherCAT slave during each cycle (Process Data Objects, PDOs) are user data which the application expects to be updated cyclically or which are sent to the slave. To this end the EtherCAT master (Beckhoff TwinCAT) parameterizes each EtherCAT slave during the start-up phase to define which process data (size in bits/bytes, source location, transmission type) it wants to transfer to or from this slave. Incorrect configuration can prevent successful start-up of the slave.

Functions
uint32_t	EC_API_SLV_PDO_setFixed (EC_API_SLV_SHandle_t *pHandle, EC_API_SLV_Pdo_t *pPdo, bool fixed)
	This is the function to set a PDO as fixed or not. Download of PDO Configuration during start up.