Data Exchange; General Information - HMS EtherCAT Slave Addendum

Data Exchange

General Information

As mentioned previously, the EtherCAT Slave Interface im-
plements CANopen over EtherCAT. This means that the
Input- and Output Data is mapped to dedicated object en-
tries in the manufacturer-specific range.
The amount of data that is exchanged by means of PDOs
(Process Data Objects) can be specified via the Gateway
Config Interface.
See also...
• 3-2 "Input Data (Gateway to EtherCAT)"
• 3-2 "Output Data (EtherCAT to Gateway)"
• 4-2 "Manufacturer Specific Objects" (4-2 "Input Buffer" & 4-3 "Output Buffer")
The EtherCAT Slave Interface uses a fixed PDO mapping as follows:
PDO Corresponding Object
TxPDO 1A00h Index 2000h, sub-index 1...128
TxPDO 1A01h Index 2001h, sub-index 1...128
TxPDO 1A02h Index 2002h, sub-index 1...128
TxPDO 1A03h Index 2003h, sub-index 1...128
RxPDO 1600h Index 2100h, sub-index 1...128
RxPDO 1601h Index 2101h, sub-index 1...128
RxPDO 1602h Index 2102h, sub-index 1...128
RxPDO 1603h Index 2103h, sub-index 1...128
Note: The Slave Interface will only map as many PDOs as required to hold the specified configuration.
EtherCAT Slave Interface
Status Word
Live List
TxPDO
SDO
Control Word
RxPDO
SDO
Gateway Memory
Input Data, bytes 0... 127
Input Data, bytes 128... 255
Input Data, bytes 256... 383
Input Data, bytes 384... 511
Output Data, bytes 0... 127
Output Data, bytes 128... 255
Output Data, bytes 256... 383
Output Data, bytes 384... 511
Chapter 3
(from Gateway)
(to Gateway)