EtherCAT Servo Communication setup using XPM_ECON and XPM_DCON

The XBF-PN08B and XBF-PN04B EtherCAT motion modules require connecting to the EtherCAT servo drives.

This is done using the XPM_ECON function block.
No commands can be sent to the drives if they are not connected.
The modules can also be disconnected from the EtherCAT servo drives using the XPM_DCON function block.
XPM_ECON will return error number 5017 if the node number order of the EtherCAT network doesn’t match the XG-PM configuration.
The examples in this topic can be found in OnlineHelp_ECAT_Example.
The Axes status variables will only be valid if the controller is connected to the servo drives.
Disconnecting the servo drives will lead to the axis status being false all the time.

XPM_ECON Details

Element Name	Element Type	Description
REQ	Input	Edge detected request to execute the function block
BASE	Input	Base number of the motion controller. Set 0 to the Base number.
SLOT	Input	Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
DONE	Output	Status that function block is done.
STAT	Output	Current status of the function block. Non-zero numbers will be an error or warning.

XPM_DCON Details

Element Name	Element Type	Description
REQ	Input	Edge detected request to execute the function block
BASE	Input	Base number of the motion controller. Set 0 to the Base number.
SLOT	Input	Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
DONE	Output	Status that function block is done.
STAT	Output	Current status of the function block. Non-zero numbers will be an error or warning.

LP606