EtherCAT Tool: SDO and State Operations

Using the ethercat Tool

5.5 Displaying, Reading, and Writing SDOs

List the object dictionary:

ethercat sdos -p 0

Read object 0x1018:01:

ethercat upload -p 0 0x1018 1

Read with a specified data type:

ethercat upload -p 0 --type uint32 0x1018 1

Before writing an SDO, verify the device manual, data type, and units. For example:

ethercat download -p 0 --type uint16 0x2000 0 1

An incorrect SDO write may change motor parameters or persistent configuration. Back up parameters before working on production equipment, and do not modify critical objects while a motor is running.

5.6 Changing States and Rescanning

ethercat states PREOP
ethercat states SAFEOP
ethercat states OP
ethercat rescan

If a state transition fails, check slave errors and master logs first. Do not repeatedly force the slaves into OP.

5.7 Exporting Slave Information

ethercat xml -p 0 > slave.xml
ethercat sii_read -p 0 > slave-sii.bin

Commands may differ between IgH versions. Writing SII/EEPROM data is high risk. Unless you fully understand the slave data format, only read and back up the data.