# Slot 3 Menu 0 − EtherCAT Setup

Mode: RFC‑A

This menu provides some common fieldbus option parameters used for basic housekeeping and information.

Parameter | 3.00.001 Module ID
--- | ---
Short description | Module ID
Minimum | 0 | Maximum | 65535
Default |  | Units |
Type | 16 Bit Volatile | Update Rate |
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

The Module ID. EtherCAT = 435

Parameter | 3.00.002 Software Version
--- | ---
Short description | Software Version
Minimum | 0 | Maximum | 99999999
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Power up write
Display Format | Version | Decimal Places | 0
Coding | RO, ND, NC, PT

Module firmware version in ww.xx.yy.zz format

Parameter | 3.00.003 Hardware version
--- | ---
Short description | Hardware version
Minimum | 0.00 | Maximum | 655.35
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | Power up write
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT, BU

Contains the module’s hardware version information in the format xx.yy.

Parameter | 3.00.004 Serial Number LS
--- | ---
Short description | Serial Number LS
Minimum | 0 (Display: 00000000) | Maximum | 99999999 (Display: 99999999)
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Power-up write
Display Format | Lead Zero Pad | Decimal Places | 0
Coding | RO, ND, NC, PT

The module serial number is available as a pair of 32 bit values where Serial Number LS (MM.004) provides the least significant 8 decimal digits and Serial Number MS (MM.005) provides the most significant 8 decimal digits. The reconstructed serial number is ((MM.005* 100000000) + MM.004). For example serial number "0001234567898765" would be stored as MM.005 = 12345, MM.004 = 67898765.

Parameter | 3.00.005 Serial Number MS
--- | ---
Short description | Serial Number MS
Minimum | 0 | Maximum | 99999999
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Power-up write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Serial Number LS (MM.004).

Parameter | 3.00.006 Status
--- | ---
Short description | Status
Minimum | -2 | Maximum | 3
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, TE, ND, NC, PT

Value | Text | Description
-2 | Bootldr - Update | The bootloader is performing a flash update
-1 | Bootldr - Idle | The bootloader is idle
0 | Initialising |
1 | OK | Module is initialised with no errors present
2 | Config | A configuration error has been detected
3 | Error | An error has occured preventing the module from running correctly

Parameter | 3.00.007 Reset
--- | ---
Short description | Reset
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Read every 200ms, Written to 0 on module initialisation
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

When set the module performs a warm reset. When the reset has been performed and the module is performing its initialization routines the parameter will be cleared to zero. Note: The drive, and any other modules fitted to the drive will not be affected by the reset. If motion is currently be performed, and it is possible, the motor will be ramped to a stop before the reset occurs.

Parameter | 3.00.008 Default
--- | ---
Short description | Default
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Read every 200ms, Written to 0 on module initialisation
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If set to “ON” when the module is reset, this parameter will cause the option module to return to its "Out of Box configuration" any settings stored on the module will be returned to their default values. This will include the CoE object dictionary, if it is saved. Following the default the module will set the parameter to "OFF" and the module will reset.

Take care using this parameter as any configuration information will be irretrievably lost

Parameter | 3.00.031 Slot indicator
--- | ---
Short description | Slot the option is installed in
Minimum | 1 | Maximum | 8
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Power-up write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

The parameter displays the number of the virtual option slot on the drive that the module is connected to. The values for the slots are 1 to 8, where the onboard slot is 4.

Parameter | 3.00.032 Slot menu number
--- | ---
Short description | The menu for the slot
Minimum | 0 | Maximum | 255
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Power-up write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT, BU

The parameter displays the menu number of the option slot on the drive.

Depending on the number of slots available, the following mapping applies:

Slot 1 – Menu 15

Slot 2 – Menu 16

Slot 3 – Menu 17

Slot 4 – Menu 24

Parameter | 3.00.033 Disable drive control
--- | ---
Short description | Prevent option from controlling drive.
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

In normal operation, at various points in EtherCAT and CiA402 operation, a number of drive parameter values will be modified by the option module (other parameters implicitly written by the CiA402 profile, etc).

Setting this parameter to 1 will request that control will be stopped. This will prevent an EtherCAT master from controlling the drive once the control word enable parameter is disabled. If the module is currently in OPERATION_ENABLED it will cause a Fault reaction to take place before the control word enable is disabled.

This parameter must be set back to 0 for normal operation.

Parameter | 3.00.034 Allow EEPROM Upgrade
--- | ---
Short description | Prevent the EtherCAT ASIC from controlling the EEPROM (disabling comms)
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

This allows the data in the EtherCAT configuration EEPROM to be upgraded, and it does this by preventing the EtherCAT ASIC from accessing the EEPROM, so that the processor can access it; this means that EtherCAT communications are disabled. This is used by setting this parameter and performing a option reset; the parameter cannot be saved.

Parameter | 3.00.035 Configured station alias
--- | ---
Short description | Configured station alias
Minimum | 0 | Maximum | 65535
Default | 0 | Units |
Type | 16 Bit User Save | Update Rate | Read on power up or reset
Display Format | Standard | Decimal Places | 0
Coding | RW, NC, PT, BU

It is unnecessary for a user to set a station address manually in order to initiate EtherCAT communications; however, this parameter can be used to configure an EtherCAT Station Alias, which can be used to uniquely identify a particular slave. If this value is changed, it is necessary to reset the option for the new value to take effect (e.g. by saving parameters and performing a power cycle). If this value is left at the default value of zero, any value stored in the EtherCAT EEPROM will be used, and if a non-zero value is stored here, it will be used in place of the EEPROM value.

Parameter | 3.00.036 Consistency trigger for synchronous outputs
--- | ---
Short description | Consistency trigger for synchronous outputs
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Standard | Decimal Places | 0
Coding | RW

Parameter | 3.00.037 Consistency trigger parameter for synchronous outputs
--- | ---
Short description | Consistency trigger parameter for synchronous outputs
Minimum | 0 | Maximum | 999999
Default | 0 | Units |
Type | 32 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Slot Menu Parameter | Decimal Places | 0
Coding | RW, DE

When the output consistency is enabled (in s.00.036 or s.00.040), the configured parameter (in s.00.037 or s.00.041 respectively) is used to control the data exchange, ensuring skew does not occur; a user program, etc, must check the configured parameter is 1 before reading the data received over the EtherCAT network, and it should clear the parameter to 0 after all the data has been read.

The SI-EtherCAT option will check that the parameter is 0 before writing RxPDO destinations and will set the parameter to 1 after the RxPDO destinations have been written.

Parameter | 3.00.038 Consistency trigger for synchronous inputs
--- | ---
Short description | Consistency trigger for synchronous inputs
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Standard | Decimal Places | 0
Coding | RW

Parameter | 3.00.039 Consistency trigger parameter for synchronous inputs
--- | ---
Short description | Consistency trigger parameter for synchronous inputs
Minimum | 0 | Maximum | 999999
Default | 0 | Units |
Type | 32 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Slot Menu Parameter | Decimal Places | 0
Coding | RW, DE

When the input consistency is enabled (in s.00.038 or s.00.042), the configured parameter (in s.00.039 or s.00.043 respectively) is used to control the data exchange, ensuring skew does not occur; a user program, etc, must check the configured parameter is 0 before writing the data to be transmitted over the EtherCAT network, and it should set the parameter to 1 after all the data has been written.

The SI-EtherCAT option will check that the parameter is 1 before reading TxPDO sources and will set the parameter to 0 after the TxPDO sources have been read.

Parameter | 3.00.040 Consistency trigger for non-synchronous outputs
--- | ---
Short description | Consistency trigger for non-synchronous outputs
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Standard | Decimal Places | 0
Coding | RW

Parameter | 3.00.041 Consistency trigger parameter for non-synchronous outputs
--- | ---
Short description | Consistency trigger parameter for non-synchronous outputs
Minimum | 0 | Maximum | 999999
Default | 0 | Units |
Type | 32 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Slot Menu Parameter | Decimal Places | 0
Coding | RW, DE

See the description of parameter s.00.037.

Parameter | 3.00.042 Consistency trigger for non-synchronous inputs
--- | ---
Short description | Consistency trigger for non-synchronous inputs
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Standard | Decimal Places | 0
Coding | RW

Parameter | 3.00.043 Consistency trigger parameter for non-synchronous inputs
--- | ---
Short description | Consistency trigger parameter for non-synchronous inputs
Minimum | 0 | Maximum | 999999
Default | 0 | Units |
Type | 32 Bit User Save | Update Rate | EtherCAT state transition
Display Format | Slot Menu Parameter | Decimal Places | 0
Coding | RW, DE

See the description of paramter s.00.039.

Parameter | 3.00.045 Homing Position Save
--- | ---
Short description | Enable homing position user save
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, PT

Used to control if Homing Position is saved and used at start-up

Parameter | 3.00.046 Homing Position Parameter
--- | ---
Short description | Menu 18 user save parameter selection
Minimum | 51 | Maximum | 54
Default | 51 | Units |
Type | 8 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, PT

This parameter is used to define the parameter in menu 18. This is limited to the 32bit User save parameters. The defined parameter will be updated at the end of homing and then read on initiasiation as the Homing Position if HOMING_POSITION_SAVE is set to true.