Pdo Assignment; Mailbox; Ethercat Slave Information - WEG CFW11 User Manual

6.5.2

PDO Assignment

Besides mapping, the PDO must be assingned to a Sync Manager to perform the data transfer during operation.
This is done through the following objects:
1C12h - RxPDO assign: program which RxPDO will be assingned to the Sync Manager 2, for process data
reception. Must be written the number of the RxPDO object mapping (1600h ... 1603h) to relate the Sync
Manager to the PDO.
1C13h - TxPDO assign: program which RxPDO will be assingned to the Sync Manager 3, for process data
transmission. Must be written the number of the TxPDO object mapping (1A00h ... 1A03h) to relate the Sync
Manager to the PDO.
✓
NOTE!
Both mapping and selection of PDOs can only be performed during the pre-operational state, before
beginning the process data exchange.
6.6

MAILBOX

Besides PDOs, responsible for transmitting and receiving cyclic data, EtherCAT communication also enables the data
exchange via mailbox, typically used for acyclic data exchange between master and slave.
Different data sets can be transmitted via mailbox. CFW11 frequency inverter enables the data exchange using an
SDO server that responds to requests from the EtherCAT master as specified by the EtherCAT protocol.
The following services are available via the mailbox:
Name
SDO Download Normal
SDO Upload Normal
Abort SDO Transfer
Get Object Dictionary List
Get Object Description
Get Entry Description
6.7

ETHERCAT SLAVE INFORMATION

Every EtherCAT slave has a configuration file in XML format, containing information about the objects, services and
slave configurations. This file, known as EtherCAT Slave Information (ESI) is provided on the CD shipped with the
product.
Information such as the list of objects for communication, configuration and FMMUs Sync Managers, standard
mapping for PDOs, are present in this file.
✓
NOTE!
It is important to note if the XML configuration file is compatible with the firmware version of CFW11
frequency inverter.
Table 6.4: Available Services via mailbox
Write value to an object of the dictionary.
Read value from an object of the dictionary.
Aborts execution of the service on failure/invalid data.
Read the list of available objects.
Gets information about an object (index).
Gets information about an object (sub-index).
Description
Network Operation
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