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SM-EtherCAT User Guide 15
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting
Started
Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
For this example the following objects will need to be set in order to achieve the
mappings of the parameters/objects in the PDOs.
5.1.4 Configuring the Sync Managers
The Sync manager is used to control the transmission of CANopen PDOs over the
EtherCAT network.
The following objects 0x1C12 - Sync manager 2 PDO assignment (RxPDO) and
0x1C13 - Sync manager 3 PDO assignment (TxPDO) are required to assign PDOs to
the synchronization task. For the purpose of the example assign one RxPDO to sync
manager 2 and two TxPDOs to sync manager 3.
Figure 5-2 SM-EtherCAT sync manager configuration
Table 5.3 Cyclic data mapping configuration
RxPDO1: TxPDO1: TxPDO6:
Object: 0x1600 Object: 0x1A00 Object: 0x1A05
Sub-index: 0x00 Sub-index: 0x00 Sub-index: 0x00
Size: 1 Size: 1 Size: 1
Value: 3 Value: 2 Value: 2
Sub-index: 0x01 Sub-index: 0x01 Sub-index: 0x01
Size: 4 Size: 4 Size: 4
Value: 0x60400010 Value: 0x60410010 Value: 0x20121610
Sub-index: 0x02 Sub-index: 0x02 Sub-index: 0x02
Size: 4 Size: 4 Size: 4
Value: 0x60420010 Value: 0x60640020 Value: 0x20141620
Sub-index: 0x03
Not Used Not Used
Size: 4
Value: 0x20141520
The format used to define the value of a mapped object is as follows:
Bit 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap).
Bit 8 to 15: Sub-index of the mapped object (if a gap, zero).
Bit 16 to 31: Index of the mapped object (if a gap, zero).
The maximum number of mappings in one PDO is five. There are no restrictions on the
data length of these 5 parameters (i.e. It is possible to map five, 32-bit parameters in
one PDO). It is also possible to use a maximum of 2 x RxPDOs and 2 x TxPDOs.
NOTE
NOTE
0x1C12
0x6040
Control word
0x6042
vl_target_velocity
Pr 20.21
RxPDO1
0x1C13
0x6041
Status word
0x6064
position
actual value
TxPDO1
Pr 18.22 Pr 20.22
TxPDO6
PLC