M-system R8-NECT1 Operating Manual page 8

■ Process Data Mapping
R8 performs mapping of process data according to Modular Device Profile (MDP) of EtherCAT. The configuration of periodi-
cally transferred process data is created by using RxPDO and TxPDO.
R8 uses object dictionary 0x6000 to 0x61F0, 0x2000 and 0x2001 as input area, 0x7000 to 0x71F0 as output area. The items
in object in the address starting with 0x6000, 0x2000 and 0x7000 are referred in turn by RxPDO and TxPDO by using index
and sub-index. Output data is stored in RxPDO (0x1600 to 0x161F and 0x1701), input data is stored in TxPDO (0x1A00 to
0x1A1F, 0x1AFF and 0x1B01). One PDO encapsulates several data to store in one packet.
RxPDO and TxPDO are registered in 0x1C12 (output data) and 0x1C13 (input data) of PDO assign list. The list defines the
order of the cyclic transfer of each PDO data.
MDP model is shown in the figure below. (Refer to the Figure 1)
Figure 1: MDP model
RxPDOs
TxPDOs
Input Entries
Output Entries
Information
Communication Area
0x1000-0x1FFF
Device Parameter
0xF000-0xFFFF
Device with
EtherCAT interface
EtherCAT
■ EtherCAT State
EtherCAT defines four states of slave: INIT, PREOP, SAFEOP, and OP.
TxPDO (input process data) can operate only in the SAFEOP or OP state, and RxPDO (output process data) can operate only
in the OP state.
There are 4 types of I/O cards connected; they are analog input, analog output, discrete input, and discrete output. For input
card, the RUN LED turns on only in the SAFEOP or OP, for output card, RUN LED turns on only in the OP state OP.
MDP Device
0x1600 0x1601
0x1A00 0x1A01
0x6000-0x600F 0x6010-0x601F
0x7000-0x700F 0x7010-0x701F
0x9000-0x900F 0x9010-0x901F
Module 0 Module 1
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp
･･･ 0x16nn
･･･ 0x1Ann
･･･ 0x6nn0-0x6nnF
･･･ 0x7nn0-0x7nnF
･･･ 0x9nn0-0x9nnF
･･･ Module nn
EM-9738-B Rev.13 P. 8 / 20
R8-NECT1