0x2002 - EtherCAT watchdog filter

Index	Sub Index	Name	Data Type	Acc.	Pdo Map.	NVM	Value range	Default value	Units
0x2002	0x01	Additional watchdog timeout	UINT16	RW	No	Yes	UINT16	10	ms

This object adds an additional protection to the EtherCAT network when there are synchronisation issues due to the master capabilities or other factors.

This register only exist on EtherCAT servo-drive versions

How it works?

Once the DC watchdog expires or a EtherCAT message is lost, this additional timeout starts to count. If the problem is not fixed during this time, a fault is generated. Otherwise it keeps on working normally.

How it is configured?

The update rate of the network has to be taken into account to set properly this timeout.

Example

Update rate of the network: 4 ms

Number of allowed lost frames: 3

The value of the timeout should be:

In case of synchronisation issues, this register can be used to compensate the drift between master and slave