Document Outline

• 1 References
• 2 Terms, Definition, Abbreviation
  • 2.1 Abbreviation
• 3 Getting Started
  • 3.1 SSC Tool
  • 3.2 Default SSC files
• 4 Code Structure
• 5 Hardware Access
  • 5.1 Interrupt Handler
  • 5.2 Interface Functions/Macros
    • 5.2.1 Generic
    • 5.2.2 Read Access
    • 5.2.3 Write Access
• 6 Application
  • 6.1 Application Settings
  • 6.2 SSC Functions
  • 6.3 Interface Functions
    • 6.3.1 Generic
    • 6.3.2 EtherCAT State Machine
    • 6.3.3 Process data handling
  • 6.4 Interface Variables
  • 6.5 Create an Application
    • 6.5.1 Adding a new Application
    • 6.5.2 Examples
      • 6.5.2.1 Sample Application process data enhancement
• 7 Objects
  • 7.1 Design/Structure Rules
  • 7.2 Define local memory
  • 7.3 Entry descriptions
  • 7.4 Object name
  • 7.5 Object description
  • 7.6 Index Ranges
  • 7.7 Implementation examples
    • 7.7.1 Usage of Object Deftype ENUM
• 8 Mailbox
  • 8.1 FoE (File Transfer over EtherCAT)
    • 8.1.1 Testing FoE
  • 8.2 EoE (Ethernet over EtherCAT)
    • 8.2.1 Implementation
      • 8.2.1.1 Sending EoE datagrams
      • 8.2.1.2 Receiving EoE datagrams
    • 8.2.2 EoE Examples
      • 8.2.2.1 EoE Example 1
      • 8.2.2.2 EoE Example 2
• 9 Synchronization
  • 9.1 Supported Sync Modes
    • 9.1.1 FreeRun
    • 9.1.2 SyncManager
    • 9.1.3 SyncManager/Sync0
    • 9.1.4 SyncManager/Sync0/Sync1
    • 9.1.5 Sync0
    • 9.1.6 Sync0/Sync1
    • 9.1.7 Subordinated Cycles
• 10 CiA402 drive profile
  • 10.1 Objects
  • 10.2 State machine
  • 10.3 Operation modes
  • 10.4 TwinCAT setup
    • 10.4.1 Automatic network setup
    • 10.4.2 Manual network setup
    • 10.4.3 NC parameter setup
• 11 TestApplication
  • 11.1 Slave Behavior Control
    • 11.1.1 Test Control Object
    • 11.1.2 User RAM 0xF80:0xF83
  • 11.2 ESM Tests (0x2000 – 0x200F)
  • 11.3 Mailbox Tests (0x2010 – 0x201F)
  • 11.4 CoE Tests (0x2020 – 0x202F)
  • 11.5 FoE Tests (0x2030 – 0x203F)
  • 11.6 Generic Objects
• 12 Tool
  • 12.1 Default Startup Dialogs
  • 12.2 Main User Interface Elements
    • 12.2.1 Tool Bar
      • 12.2.1.1 File
      • 12.2.1.2 Project
      • 12.2.1.3 Tool
      • 12.2.1.4 Help
    • 12.2.2 Windows
  • 12.3 Create Files
  • 12.4 Local SSC Update
  • 12.5 Project Update
  • 12.6 Import Configurations
• 13 OD Tool
  • 13.1 Console application
  • 13.2 SSC Tool Integration
  • 13.3 PDO mapping and SM assign objects
  • 13.4 Syntax
    • 13.4.1 Comment
    • 13.4.2 Object Index
    • 13.4.3 ObjectCode
    • 13.4.4 SI (Subindex)
    • 13.4.5 DataType
    • 13.4.6 Default/Min/Max
    • 13.4.7 M/O/C, B/S and rx/tx
    • 13.4.8 Access
  • 13.5 ENUM
• 14 EEPROM Handling
  • 14.1 EEPROM Emulation
  • 14.2 EEPROM Programming
    • 14.2.1 EEPROM Programmer User Elements
• 15 Bootloader
• Appendix
  • Support and Service
  • Beckhoff’s branch offices and representatives
  • Beckhoff Headquarters
  • Beckhoff Support
  • Beckhoff Service
  • EtherCAT Technology Group (ETG) Headquarters