Object Description And Parameterization; Standard Object - ICP DAS USA ECAT-2610 User Manual

EtherCAT to Modbus RTU Gateway
8. Object Description and
Parameterization

8.1 Standard Object

Index Name
1000h Device type
1001 h
Error Register
1008h
Device name
1009h Hardware Version
100Ah
Software Version
1018h Identity object
1600h
Receive PDO
1601h
mapping
1A00h Transmit PDO
1A01h
mapping
1C00h Sync Manager
Communication
Type
1C12h
Sync Manager Rx
PDO Assign
1C13h
Sync Manager Tx
PDO Assign
Table 8-1: The PDO mapping of ECAT-2610 module is static and looks as follows:
PDO Corresponding Object
TxPDO 1A00h Index 2000h, sub-index 1 to 128
TxPDO 1A01h Index 2010h, sub-index 1 to 128
RxPDO 1600h Index 2100h, sub-index 1 to 128
RxPDO 1601h Index 2110h, sub-index 1 to 128
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Sub-
Meaning
Index
00h Device type
00h
Error Register
00h
ECAT-2610 Communicator
00h Hardware Version
00h
Software Version
00h Number of entries
01h
Vendor ID
02h
Product Code
03h
Revision Number
04h Serial Number
00h
RxPDO 0x00-0x7F
00h
RxPDO 0x80-0xFF
00h TxPDO 0x00-0x7F
00h
TxPDO 0x80-0xFF
00h Sync Manger Type
01h
Maibox write
02h
Maibox read
03h Process Data Out
04h Process Dat in
00h
SyncManager 2 Assignment
01h Assigned RxPDO
02h Assigned RxPDO
00h
SyncManager 3 Assignment
01h Assigned TxPDO
02h Assigned TxPDO
Data
Flags
type
UINT32 RO 0x0000 0192(No profile)
UINT16 RO
Visible RO
string
UINT16 RO
UINT16 RO
UINT16 RO
UINT32 RO
UINT32 RO
UINT32 RO
UINT32 RO
UINT16 RO Refer to following table 8-1
UINT16 RO
UINT16 RO Refer to following table 8-1
UINT16 RO
UINT16 RO
UINT16 RO
UINT16 RO
UINT16 RO
UINT16 RO
UINT16 RO No. of assigned RxPDO(0-1)
UINT16 RO Assigned to RxPDO 1600h
UINT16 RO Assigned to RxPDO 1601h
UINT16 RO No. of assigned TxPDO(0-1)
UINT16 RO Assigned to TxPDO 1A00h
UINT16 RO Assigned to TxPDO 1A01h
Internal Memory
Input Data, bytes 0 to 127
Input Data, bytes 128 to 255
Output Data, bytes 0 to 127
Output Data, bytes 128 to 255
Notes
0x00
-
-
-
04h
-
-
-
-
04h
01h
02h
03h
04h
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