4 EtherCAT interface
54 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
4.6.2 New and revised objects under CoE
The following table contains an overview of the indices and subindices used for CANopen-compatible
communication objects, which are inserted in the range from 1000
h
to 1FFF
h
for the EtherCAT fieldbus
system. These primarily replace the communication parameters in accordance with CiA 301.
Object
Significance Permitted with
1000
h
Device type Device control identifier
1018
h
Identity object Vendor ID, product code, revision, serial number
1100
h
EtherCAT fixed station address Fixed address assigned to the slave during initialisa
tion by the master
1600
h
1. RxPDO Mapping Identifier of the 1st Receive PDO
1601
h
2. RxPDO Mapping Identifier of the 2nd Receive PDO
1602
h
3. RxPDO Mapping Identifier of the 3rd Receive PDO
1603
h
4. RxPDO Mapping Identifier of the 4th Receive PDO
1A00
h
1. TxPDO Mapping Identifier of the 1st Transmit PDO
1A01
h
2. TxPDO Mapping Identifier of the 2nd Transmit PDO
1A02
h
3. TxPDO Mapping Identifier of the 3rd Transmit PDO
1A03
h
4. TxPDO Mapping Identifier of the 4th Transmit PDO
1C00
h
Sync Manager Communication
Type
Object for configuring the individual Sync channels
(SDO or PDO Transfer)
1C10
h
Sync Manager PDO Mapping
for Sync Channel 0
Assignment of the Sync channel 0 to a PDO/SDO
(Channel 0 is always reserved for Mailbox Receive
SDO Transfer)
1C11
h
Sync Manager PDO Mapping
for Sync Channel 1
Assignment of the Sync channel 1 to a PDO/SDO
(Channel 1 is always reserved for Mailbox Send SDO
Transfer)
1C12
h
Sync Manager PDO Mapping
for Sync Channel 2
Assignment of the Sync channel 2 to a PDO
(Channel 2 is reserved for Receive PDOs)
1C13
h
Sync Manager PDO Mapping
for Sync Channel 3
Assignment of the Sync channel 3 to a PDO
(Channel 3 is reserved for Transmit PDOs)
Tab. 4.7 New and revised communication objects
The subsequent chapters describe the objects 1C00
h
and 1C10
h
…1C13
h
in more detail, as they are only
defined and implemented under the EtherCAT CoE protocol and therefore are not documented in the
CANopen manual for the motor controller CMMP-AS-...-M3.
The motor controller CMMP-AS-...-M3 with the EtherCAT interface supports four Receive
PDOs (RxPDO) and four Transmit PDOs (TxPDO).
Objects 1008
h
, 1009
h
and 100A
h
are not supported by the CMMP-AS-...-M3, as plain text
strings cannot be read from the motor controller.
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