Redundant PDO Entries

It is possible within the KAS IDEClosed"Integrated development environment" An integrated development environment is a type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger to have the same PDO entry occur in multiple PDOs (or even in a single PDO). A PDO entry is uniquely defined by an index and a subindex. The name of the entry is irrelevant in regards to identification.

In the example below, the entry defined by index 0x6040, subindex 0, appears in the Rx PDOs 0x1600 and 0x1604. Similarly, the entry 0x3470, subindex 4 appears in two different PDOs.

  • A redundant Rx PDO entry will generate a compiler error. For example, the redundant Rx PDO illustrated above would generate the following compiler error:
EtherCAT: ERROR: In AKD_1, PDO object index 0x6040, subIndex 0 is redundant. It is in the following PDO(s): 0x1600, 0x1604
  • Attempting to export the ENI file will fail with the error:
Failed to export ENI file, check the logs for more details.
  • A redundant Tx PDO entry will generate a compiler warning, such as the example below:
EtherCAT: Warning : In AKD_1, PDO object index 0x3470, subIndex 4 is redundant. It is in the following PDO(s): 0x1A04, 0x1B23
  • A redundant Tx PDO entry will not prevent a successful compilation nor will it generate an error when exporting the ENI file.