Redundant PDO Entries

It is possible in the KAS-IDE 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 this example:

  • The entry defined by index 0x6040, subindex 0, appears in the Rx PDOs 0x1600 and 0x1604.
  • The entry 0x3470 and subindex 4 appear in two different PDOs.

Redundant Rx PDO

The redundant Rx PDO would generate this 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 fails with this error:

Failed to export ENI file, check the logs for more details.

Redundant Tx PDO

A redundant Tx PDO entry does not prevent a successful compilation nor generate an error when exporting the ENI file.

A redundant Tx PDO entry generates a compiler warning:

EtherCAT: Warning : In AKD_1, PDO object index 0x3470, subIndex 4 is redundant. It is in the following PDO(s): 0x1A04, 0x1B23