Input Data (Gateway To Ethercat); Output Data (Ethercat To Gateway) - HMS EtherCAT Slave Addendum

Input Data (Gateway to EtherCAT)

Depending on the actual gateway configuration and how it has been set up to operate, parts of the data
produced by the EtherCAT Slave Interface may be used to represent status information (i.e. Status
Word, Live List etc.).
Status Word
Live List (8 bytes)
Data from
gateway (14 bytes)
Example A:
Input PDO Size:
Input SDO Size:
Live List:
Control & Status Word:
Note: The Live List is only available on master-slave gateway configurations.
See also...
• 4-2 "Input Buffer"

Output Data (EtherCAT to Gateway)

Depending on the actual gateway configuration and how it has been set up to operate, the first two bytes
consumed by the EtherCAT Slave Interface may be interpreted as control information (i.e. the Control
Word).
Control Word
Live List (8 bytes)
Data to
gateway (22 bytes)
Example A:
Output PDO Size:
Output SDO Size:
Control & Status Word:
Note: The exact interpretation of the Control Word depends on the actual gateway configuration. Con-
sult the main User Manual and X-gateway Interface Appendix for the other network interface for further
information.
See also...
• 4-3 "Output Buffer"
2000h, 01... 02h
2000h, 03h...
...
2000h, 09... 0Ah
2000h, 0Bh...
2000h, 0F... 10h
2000h, 11...
...
2000h, 17... 18h
Example B:
16 Input PDO Size:
8 Input SDO Size:
Enabled Live List:
Enabled Control & Status Word:
2100h, 01... 02h
2100h, 03h...
...
2100h, 0B... 0Ch
2100h, 03h...
...
2100h, 17... 18h
Example B:
12 Output PDO Size:
12 Output SDO Size:
Enabled Control & Status Word:
Status Word
2000h, 01... 02h
2000h, 03h...
Live List (8 bytes)
...
Data from
gateway (22 bytes)
...
2000h, 17... 18h
24
0
Disabled
Enabled
2100h, 01... 02h
2100h, 03h...
Live List (8 bytes)
...
2100h, 07... 08h
2100h, 09... 0Ah
Data to
gateway (22 bytes)
...
2100h, 15... 16h
8
14
Disabled
Data Exchange 3-2