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The format used to define the value of a mapped object is as follows:
NOTE
Bit 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Bit 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bit 16 to 31: Index of the mapped object (if a gap, zero).
The maximum number of mappings in one PDO is twelve. There are no restrictions on
NOTE
the data length of these parameters (i.e. It is possible to map twelve, 32-bit parameters
in one PDO). It is also possible to use a maximum of one RxPDOs and one TxPDOs.
For M200, M300 and M400 the maximum update time achievable is 4 ms.
NOTE
5.1.3
Configuring the sync managers
The sync manager is used to control the transmission of CANopen PDOs over the EtherCAT
network.
The following objects 0x1C12 - sync manager 2 PDO assignment (RxPDO) and 0x1C13 - sync
manager 3 PDO assignment (TxPDO) are required to assign PDOs to the synchronization task. For
the purpose of the example assign one RxPDO to sync manager 2 and one TxPDOs to sync
manager 3.
Figure 5-2 SI-EtherCAT sync manager configuration
PLC
Assigning RxPDO to the sync manager
To assign RxPDO1 to sync manager 2 PDO assignment set the values below to the following
objects:
•
Index: 0x1C12
•
Sub index: 0x00
•
Size: 1
•
Value: 1
Setting object 0x1C12, sub-index 0 to a value of 1 (as above) indicates that one RxPDO will be
assigned to the sync manager 2 assignment.
•
Index: 0x1C12
•
Sub index: 0x01
•
Size: 2
•
Value: 0x1600
Setting object 0x1C12, sub-index 1 to a value of 0x1600 (as above) maps RxPDO1 to the process
data output sync.
18
0x1C12
RxPDO1
0x6040
0x6042
Control word
vl_target_velocity
0x1C13
TxPDO1
0x6064
0x6041
position
Status word
actual value
Pr 20.021
SI-EtherCAT User Guide
Issue Number: 2
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