BECKHOFF EL7037 - Manual (Page 30)

Basics communication
Example "Set SM watchdog"
This checkbox enables manual setting of the watchdog times. If the outputs are set and the EtherCAT
communication is interrupted, the SM watchdog is triggered after the set time and the outputs are erased.
This setting can be used for adapting a terminal to a slower EtherCAT master or long cycle times. The
default SM watchdog setting is 100 ms. The setting range is 0..65535. Together with a multiplier with a range
of 1..65535 this covers a watchdog period between 0..~170 seconds.
Calculation
Multiplier = 2498 → watchdog base time = 1 25 MHz * (2498 + 2) = 0.0001 seconds = 100 µs
SM watchdog = 10000 → 10000 * 100 µs = 1 second watchdog monitoring time
CAUTION
CAUTION! Undefined state possible!
The function for switching off of the SM watchdog via SM watchdog = 0 is only imple-
mented in terminals from version -0016. In previous versions this operating mode should
not be used.
CAUTION
CAUTION! Damage of devices and undefined state possible!
If the SM watchdog is activated and a value of 0 is entered the watchdog switches off com-
pletely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state, if
the communication is interrupted.
Note
Outputs in SAFEOP state
The default set watchdog monitoring sets the outputs of the module in a safe state - de-
pending on the settings in SAFEOP and OP - e.g. in OFF state. If this is prevented by de-
activation of the watchdog monitoring in the module, the outputs can be switched or set
also in the SAFEOP state.
3.4 EtherCAT State Machine
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the
state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be
sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave.
A distinction is made between the following states:
• Init
• Pre-Operational
• Safe-Operational and
• Operational
• Boot
The regular state of each EtherCAT slave after bootup is the OP state.
EL70x7 30 Version 1.0