ABB FECA-01 EtherCAT, User Manual

Page: 95 / 148

Communication protocol 95
The adapter module has two Sync Manager Channels for process
data: SM 2 for output data (Rx data) and SM 3 for input data (Tx
data). The Sync Manager PDO assignments can be changed only
in the PREOP state.
The Rx PDO mappings are configured with CoE objects
0x1600…0x1605 and 0x1614. The Tx PDO mappings are
configured with objects 0x1A00…0x1A05 and 0x1A14. Rx and Tx
Sync Manager PDO assignments are configured with CoE objects
0x1C12 and 0x1C13, respectively. By default, Rx and TxPDO 6
are enabled and assigned to the Sync Managers.
Note: Subindex 0 contains the number of valid entries within the
mapping record. This number is also the number of the objects
which shall be transmitted/received with the corresponding PDO.
The subindexes from 1h to the number of objects contain
information about the mapped application variables.
The mapping values in the CANopen object are hexadecimal-
coded. The following table presents an example of the PDO
mapping entry structure. The values in the object are hexadecimal:
21
1)
1A14 2004
2005
2006 Transparent SW
Transparent ACT1
Transparent ACT2
1)
Default mapping with ACS880 and ACS580:
2104 ABB Drives status word
2105 ABB Drives ACT1
2106 ABB Drives ACT2
Type MSB LSB
UINT 32 31 16 15 8 7 0
Description Index
eg, 0x6040h
16 bits)
Subindex
eg, 0
(8 bits)
Object length in bits
eg, 0x10 =16 bits
(8 bits)
Tx PDO Mapping object Object index Object name