Network Operation
6.5.2 PDO Assignment
Besides mapping, the PDO must be assingned to a Sync Manager to perform the data transfer during operation.
This is done through the following objects:
1C12h - RxPDO assign: program which RxPDO will be assingned to the Sync Manager 2, for process data
reception. Must be written the number of the RxPDO object mapping (1600h ... 1603h) to relate the Sync
Manager to the PDO.
1C13h - TxPDO assign: program which RxPDO will be assingned to the Sync Manager 3, for process data
transmission. Must be written the number of the TxPDO object mapping (1A00h ... 1A03h) to relate the Sync
Manager to the PDO.
✓
NOTE!
Both mapping and selection of PDOs can only be performed during the pre-operational state, before
beginning the process data exchange.
6.6 MAILBOX
Besides PDOs, responsible for transmitting and receiving cyclic data, EtherCAT communication also enables the data
exchange via mailbox, typically used for acyclic data exchange between master and slave.
Different data sets can be transmitted via mailbox. CFW11 frequency inverter enables the data exchange using an
SDO server that responds to requests from the EtherCAT master as specified by the EtherCAT protocol.
The following services are available via the mailbox:
Table 6.4: Available Services via mailbox
Name Description
SDO Download Normal Write value to an object of the dictionary.
SDO Upload Normal Read value from an object of the dictionary.
Abort SDO Transfer Aborts execution of the service on failure/invalid data.
Get Object Dictionary List Read the list of available objects.
Get Object Description Gets information about an object (index).
Get Entry Description Gets information about an object (sub-index).
6.7 ETHERCAT SLAVE INFORMATION
Every EtherCAT slave has a configuration file in XML format, containing information about the objects, services and
slave configurations. This file, known as EtherCAT Slave Information (ESI) is provided on the CD shipped with the
product.
Information such as the list of objects for communication, configuration and FMMUs Sync Managers, standard
mapping for PDOs, are present in this file.
✓
NOTE!
It is important to note if the XML configuration file is compatible with the firmware version of CFW11
frequency inverter.
CFW11 | 24
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