Redundant PDO Entries
It is possible within the KAS IDE"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 PDOPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. 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.