FSOE Configuration

MattiaDeiRossi

Hi all,

we are trying to setup a basic configuration using the following Ethercat chain:

mcx-intel:~$ ethercat slaves
0  0:0  PREOP  E  0x00000619:0x00000006                                      # Master FsoE BBH SCU-1-EC
1  0:1  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)               # 
2  0:2  OP     +  EL2808 8K. Dig. Ausgang 24V, 0.5A                        # Beckhoff Output module 
3  0:3  OP     +  EL1808 8K. Dig. Eingang 24V, 3ms                          # Beckhoff Input module
4  0:4  OP     +  SOMANET Circulo CiA402 Drive safe motion      #

We did the following steps:

We uploaded the ESI files using the tool https://app.motorcortex.io/esi.
Scanned of the network using https://ecat.motorcortex.io/
Linked standard PDOs
Manually added FsoE PDOs for master FSoE and for SOMANET Circulo boards

At the moment the issue is that we don't know how to link the Master-Slave Safety PDOs. Do you have more documentation about it?