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Hardware reference
Arguments
•
function
$66 to configure the mapping
•
unit_number
Unit number of the EtherCAT master to which the slave is attached.
•
address
Configured address of the EtherCAT slave
•
VR_start_RxPDO
The starting address in VR memory of the controller where the data to
the device (RxPDO) is mapped (default = 0)
•
VR_length_RxPDO
The number of VR locations to allocate data to the device (RxPDO) (one
object per VR, default = 0)
•
VR_start_TxPDO
The starting address in VR memory of the controller where the data from
the device (TxPDO) is mapped (default = 0)
•
VR_length_TxPDO
The number of VR locations to allocate data from the device (TxPDO)
(one object per VR, default = 0)
Example
The following example maps the FZM1 (address 1001) Command area to VR
locations 100 to 104 and the Response and Output area to VR locations 200
to 211 and checks if the command was successful.
IF ETHERCAT($66,0,1001,100,5,200,12) THEN
PRINT "Mapping: OK"
ELSE
PRINT "Mapping: FAIL"
ENDIF
See also
N/A
The FZM1 PDO contains the following areas:
Command area (controller to FZM1)
Item
31 - 17
Control
Reserved
Command
Parameter 1
Parameter 2
Parameter 3
HARDWARE REFERENCE MANUAL
16
15 - 2
1
DSA
Reserved
STEP
UDINT (32 bits)
DINT (32 bits)
DINT (32 bits)
DINT (32 bits)
0
EXE
222
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