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Configuring the network
EtherCAT
Edit EtherCAT I/O mapping
8.1.5
Edit EtherCAT I/O mapping
If you insert additional field devices in the control configuration or change the
PDO mapping, the object addresses change. Therefore, the input and output
objects in the PLC program must be accessed via individual unambiguous
variables. The variable names must comply with the IEC 61131 syntax.
The manual assignment of object addresses in the Address column is not
supported.
On the EtherCAT I/O image tab, you can enter variable names by double-clicking the variable
fields or pressing the space key. By clicking the menu button, you can reference already
existing variables or enter variable names directly in the input field to create system variables.
For the PLC program, the corresponding system variables are available.
8.1.5.1
Set PDO mapping
Set the PDO mapping in the selected EtherCAT slave. The process data serves to select the
inputs and outputs.
The PDO mapping for the EtherCAT slave can be composed of 3 parts:
Unchangeable static part.
•
Dynamic part. Contains PDOs for the different operation modes.
•
Freely configurable part. Activated in the »PLC Designer« and enables individual mapping.
•
Changing PDO mapping settings
How to change the PDO mapping settings:
1. Activate expert settings in the »PLC Designer«
2. Remove the checkmark in the PDO assignment checkbox.
3. Check the desired setting.
The setting has been changed.
8.1.5.2
Activate PDO mapping
If the device descriptions for corresponding EtherCAT devices that are supplied with the »PLC
Designer« are used, the process data is copied to the subordinate node automatically.
Manually link process data
If the process data is still to be linked manually, activate the Direct access to I/O addresses by
the application option on the LenzeLogicDrive Configuration tab. In this setting, you cannot
use the prepared function blocks. The process data (I/O addresses) must be linked manually.
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