EtherCAT Editor: Init Commands Tab

To access this window: In the EtherCAT Editor, in the EtherCAT Explorer pane, click a SubDevice in the list, then click the Init Commands tab.

Init Commands are data writes to SubDevice data objects that occur when a SubDevice transitions from one EtherCAT state to the next, for example from Pre-Op to Safe-Op.

Init commands are used to configure a SubDevice. Sometimes, you may need to add an Init command or modify an existing one to make sure the SubDevice is properly configured for the desired operation. Consult the SubDevice documentation and RMCTools help on specific third-party devices for instructions on when to add or modify Init commands.

For more details, see Init Commands.

Init Commands Box

The Init Commands table lists the Init Command components:

Transition: Defines the state transition at which the write takes place
Protocol: This is always CoE.
Index: The address of the data object that is written to. This is in hexadecimal, with the number after the colon specifying a subindex.
Value: The value to be written.
Comment: A description of the data object specified by the Index.
Access: Specifies the read/write access.

The Index that the Init Command writes to can usually be found in the CoE Object Dictionary.

Adding a New Init Command

In the Init Commands tab, click in the New button. The New CoE Init Command dialog opens.
In the CoE Object Dictionary box, browse to the desired object. If the object has subindexes, make sure to choose the correct one.
In the Value box, enter the desired value to write.
In the Transition section, choose the state transition for which the write should occur.
Click OK.

You can also create a new Init Command by using the Copy button:

In the Init Commands tab, in the Init Commands box, click the desired row.
Below the Init Commands box, click Copy. The New CoE Init Command dialog opens.
Makes edits as required, then click OK. This will create a new Init Command in the list.

Editing an Init Command

Editing just the value:

In the Init Commands tab, in the Init Commands box, click the desired row.
Below the Init Commands box, in the Edit Value section, in the Value box, enter the desired value, then press Enter.

Editing the details of the Init Command:

In the Init Commands tab, in the Init Commands box, click the desired row.
Below the Init Commands box, click Edit. The Edit CoE Init Command dialog opens.
Make changes as required, then click OK.

Reordering and Removing Init Commands

To reorder or remove Init commands, click an Init Command in the list, then use the Move Up, Move Down, or Delete button.