4 EtherCAT interface
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 71
Node name Significance Adaptable
RxPDO Fixed=... This node contains the PDO Mapping and the assignment of the
PDO to the Sync Manager for Receive PDOs.
Yes
TxPDO Fixed=... This node contains the PDO Mapping and the assignment of the
PDO to the Sync Manager for Transmit PDOs.
Yes
Mailbox This node allows commands to be defined that are transmitted to
the slave via SDO transfers by the master during the phase
transition from “Pre-Operational” to “Operational”.
Yes
Tab. 4.17 Subnode of the “Descriptions” node
As only the nodes from the table above are important for users to adapt the device description file, they
are described in detail in the following chapters. The remaining content of the device description file is
fixed and may not be changed by the user.
Important:
If changes are made to nodes and content other than the RxPDO, TxPDO and Mailbox
nodes in the device description file, error-free operation of the device can no longer be
guaranteed.
4.12.2 Receive PDO configuration in the RxPDO node
The RxPDO node is used to specify the mapping for the Receive PDOs and their assignment to a
channel of the Sync Manager. A typical entry in the device description file for the motor controller
CMMP-AS-...-M3 can be as follows:
<RxPDO Fixed=”1” Sm=”2”>
<Index>#x1600</Index>
<Name>Outputs</Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Mode_Of_Operation</Name>
<DataType>USINT</DataType>
</Entry>
</RxPDO>
To Next Page
Loading...
Need help?
General
