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Appendix| EtherCAT
optoNCDT 2300
Note: Subindex 0h of the object 0x1A00 contains the number of valid entries within the mapping report. This number also represents
the number of application variables (parameters) that should be transmitted/received with the corresponding PDO. The sub-indices
from 1h up to the number of objects contain information about the depicted application variables. The mapping values in the CANo-
pen objects are coded in hexadecimal form.
The following table contains an example of the entry structure of the PDO mapping:
MSB LSB
31 16 15 8 7 0
Index e.g. 0x6064 (16 bits) Subindex e.g. 0x02 Object length in bits, e.g. 20h = 32 bits
Fig. 65 Input structure of the PDO mapping, example
The fast transmission of the measurements is an important task of the EtherCAT interface.
When error “Invalid sync manager configuration” the PDO configuration is incorrect.
A 7.2.8 Service Data SDO Service
Service Data Objects (SDOs) are primarily used for the transmission of data that are not time critical, e.g. parameter values. EtherCAT
specifies the SDO services as well as the SDO information services: SDO services make possible the read/write access to entries in
the CoE object directory of the device. SDO information services make it possible to read the object directory itself and to access the
properties of the objects. All parameters of the measuring device can be read or changed in this way, or measurements can be trans-
mitted. A desired parameter is addressed via index and subindex within the object directory.
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