8 Process data transfer
8.3 Mapping indices and codes
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Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 10.2 EN · 11/2018 · TD06
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8.3.1 Structure of the mapping codes
The mapping codes C13231 ... C13240 and C14231 ... C14240 have the following structure:
Example
In the RPDO channel 1, the index 0xA640.0x03 is transmitted with a length of 4 bytes from an offset
of 20 bytes.
• Entry in the mapping code C1x231/8: 0x002000A00003A640
• Correspondent entry in the CoE object 0x1600/8: 0xA6400320
8.3.2 FSoE mapping indices
The FSoE mapping indices can be used from SW version 04.00 and show the PDO mapping for the
safety PDOs. On the EtherCAT side, they are mapped onto the CoE objects 0x1700 (Safety RxPDO)
and 0x1B00 (Safety TxPDO).
The FSoE mapping is activated by the configurator via the indices 0x1C12.02 = 0x1700 and
0x1C13.02 = 0x1B00.
The FSoE mapping is only possible with the simultaneous use of a valid PDO mapping.
Safety over EtherCAT
( 81)
Octet offset Name Description
0 / 1 Index Index of the object to be mapped
2 Subindex Subindex of the object to be mapped
3 Reserved
4 / 5 Offset Offset regarding the PDO start in bits
6 / 7 Length Length of the object to be mapped in bits
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Index Subindex Reserved Offset Length
0x40 0xA6 0x03 0x00 0xA0 0x00 0x20 0x00
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