You can create an EtherCAT HotConfig group for each station that can be connected or disconnected.

Use the following workflow to configure EtherCAT HotConfig.
  1. Create an EtherCAT HotConfig group.
    Refer to Creating Objects to add a new EtherCATHotConfig group to the desired location in the database. When adding a new object, you can use the search bar to find the EtherCATHotConfig group.
  2. Import EtherCAT HotConfig data.
  3. Configure the EtherCATHotConfig group.

Importing EtherCAT HotConfig Data

Use the EtherCAT HotConfig group editor to detect the topology of a running EtherCAT network.

  1. Double-click EtherCATHotConfig from the list of objects where you added the group.
    The EtherCAT HotConfig group appears in a new configuration tab.
  2. Execute a scan.
    1. Select the EtherCAT HotConfig Host.
    2. For Master, select the device number that you configured in PAtools PCU Configuration.
    3. Verify that the EtherCAT master is idle when you are configuring the HotConfig.
    4. Click Scan.
    The duration of the scan depends on the selected slaves and the size of the network.
    The topology and previously configured stations populate the tree view.
  3. Enter slave Settings according to documentation from the manufacturer.
The following table lists the possible state and error messages.
Table 25. State Messages and Error Messages for Importing Data
ID Message Text Solution
0 Scan started Wait until the scan finishes.
1 Scan running Wait until the scan finishes.
2 Scan done You can import data.
-1 Invalid parameters transferred Contact NI Support. Have the return code ready for further analysis.
-2 EtherCAT master driver not running Start the driver.
-3 Driver command failed Check EtherCAT parameterization in program PAtools PCU Configuration. If you don't find an error there, contact NI Support. Have the return code ready for further analysis.
-4 Driver is scanning Wait until the scan finishes.
-5 Driver is running. Scan not possible. Wait until the test unloads. Alternatively, wait until the network is in the initial state again.
-6 Driver returned an unknown state. Contact NI Support. Have the return code ready for further analysis.
-7 ScanId is invalid Contact the NI Support.
-8 Scan failed in the driver (possibly no network detected) Check the cables and the connectors.
-9 Slave having the transferred slave ID is unknown Check the cables and the connectors.
-10 Alias could not be set, because network is already in operation Wait until the test unloads. Alternatively, wait until the network is in the initial state again.
-11 Slave allows a reset over EtherCAT, but the reset does not work. Interrupt the power supply to the slave. Then, restore the power supply.
-12 Slave does not support a reset over EtherCAT Interrupt the power supply to the slave. Then, restore the power supply.
-13 Slave does not support alias addresses Select another slave at the station or use the slave with the network connector.
-14 No slaves found Check the cables and connectors. Alternatively, check the assignment of the network interface of the EtherCAT in PAtools PCU Configuration.
-15 Error on file system Check the hardware.
After you import data, you can set the slave alias in the EtherCAT HotConfig group editor.

Assigning an Alias

To create a separate station, assign a unique alias for the EtherCAT slave.

Set the alias to 0 to delete a station.
  1. Locate the desired EtherCAT slave in the tree view.
  2. Click the parent of the desired EtherCAT slave.
  3. Enter a numeric alias for the EtherCAT slave in the table view.
  4. Press Enter to apply the alias.
    A notification appears indicating the success or failure of the action. When an alias is successfully applied, the alias is stored in the EtherCAT slave.

Configuring the EtherCAT HotConfig Group

Configure the input variables, output variables, and operation group in the EtherCAT HotConfig group.

Compared to the EtherCAT Master group, EtherCAT HotConfig does not have status or control channels. The state variables determine the status instead.

  1. Enter a unique name for the EtherCAT HotConfig group.
  2. In the left menu, click Stations.
  3. In the Station column, validate the unique station alias.

    The Station is prefilled according to the scan result and the alias stored in the EtherCAT HotConfig slave.

    Station addresses are 16-bit integers greater than 0. The station address is unique in the entire network. A station starts with a bus head that has a station address. The station address includes all slaves following this bus head and have no known station address. The station ends at the last slave in the network or when a new slave has a station address.

  4. Optional: In the Dynamic Station column, click … to select a constant variable that overwrites the slave alias.
  5. In the Master column, validate the device number of the EtherCAT HotConfig master.

    The Master is filled with the device number you scanned.

  6. Optional: In the Dynamic Master column, click … to select a constant variable that overwrites the EtherCAT HotConfig master.
  7. Optional: In the Cyclic Duration column, enter the cycle time of the bus communication of the slave in seconds.
  8. Optional: In the Status column, select the variable in which the station status is written at runtime.
  9. Optional: In the Activate State Msgs column, enter 1 to display system messages related to the EtherCAT.
    The messages display in the message window. Messages are also added to the test logbook.

    The default behavior is to not display messages.

  10. Optional: In the Information column, select the variable for bit-coded information.
    The bit-coded information is about the state of the network or the HotConfig tool chain. The values are identical for each station.
    Table 26. Bit Definitions
    Bit Definition
    None No additional information is available.
    0 A network scan or reconfiguration is running. The topology of the network changed. A new configuration is required.
    1 The last network scan failed.
    2 No EtherCAT network is available. The network is unplugged or without current.
    3 The network is running without error.
    4 During the last scan, at least one error in the alias settings of the slaves was detected.
    • Two slaves have the same alias.
    • A slave has an alias but has no Ethernet port at port A.
    5 The network is booting.
  11. Optional: In the Lock Restart column, select a variable that controls the restart behavior of the network

    Select a Lock Restart variable when using PDO mapping.

  12. Optional: Select a station to change the PDO mappings of the EtherCAT HotConfig slaves.
  13. Optional: In the Description column, enter a description of the EtherCAT HotConfig station.
  14. In the left menu, click Topology to configure the channels of an EtherCAT HotConfig slave.
  15. In the Name column, click ... and select the name of the input or output channel.
    The variable you select must not be defined in another group.
  16. Enter the Initialization Value of the variable when the test loads.
  17. Optional: Select the physical Unit of the variable.
  18. Optional: Select the Data Type of the input variables or output variables.
  19. Optional: Enter the number of Decimal Places for the display.
  20. Optional: Select the Fixed Formula for conversions between channel values, input variables, and output variables.
  21. Validate the following read-only columns.
    • Type
    • Channel Name
    • Subname
    • Data Type
    • Data Width in Bits
  22. Select the Operation Group with which the input variables and output variables of the station are updated.
  23. In the Reaction column, select how the channel responds to errors.
    Only enter a Reaction for input channels. The column is disabled for output channels.

    The reaction executes when an error is detected.

  24. In the Standard Value column, select the definition of the standard value.
    Only enter a Standard Value for input channels. The column is disabled for output channels.
  25. Click Save.