Infranor XtrapulsGem - Pdo Particularities

15
X
trapuls – EtherCAT® Fieldbus Interface
Chapter 4 – Specifications of the SDOs and PD0s for the EtherCAT®
4.2 - PDO PARTICULARITIES
The Sync Manager PDO Assign objects need to be setup in addition to the usual xPDO mapping objects.
Principle of PDO mapping:
These setups can be performed by using the SDO communication channels either with the Gem Drive Studio
software or with an EtherCAT® master.
1rst Receive PDO mapping (object 1600h)
0 2 (nb of entries)
1 yyyyh (index) yyh (sub-index) 20h (size)
2 xxxxh xxh 10h
Object Dictionary
xxxxh xxh Application object 1
yyyyh yyh Application object 2
zzzzh zzh Application object 3
2nd Receive PDO mapping (object 1601h)
0 1 (nb of entries)
1 zzzzh (index) zzh (sub-index) 20h (size)
Sync Manager Channel 2 PDO
Assignment (object 1C12h)
0 2 (nb of entries)
1 1601h (index)
2 1600h
RPDO2 RDPO1
Application object 3 Application object 2 Application object 1
CANopen usual PDO mapping setup
EtherCAT® specific Sync Manager PDO assignment
Sync Manager Channel 2 should be setup to process at least one RPDO.