Anybus CompactCom 40 EtherCAT, Network Manual, Page: 31 / 138

Object Dictionary (CANopen over EtherCAT) 29 (136)
4.2.5 Modular Device Profile, Object Entries
The objects listed in the table below, shall be implemented if the Modular Device Profile mode is
enabled.
Index Object Name Sub-
index Description Type Access Notes
6000h
-
6FFFh Input data Any ADIs for all modules, ex-
cept the coupler, that
are write process data
mappable will be repre-
sented in this range. Any R, RW For more informa-
tion, see
ADI to SDO
Translation, p. 30 .
7000-
h-
7FFFh Output data Any ADIs for all modules, ex-
cept the coupler, that
are read process data
mappable will be repre-
sented in this range. Any W, RW For more informa-
tion, see
ADI to SDO
Translation, p. 30 .
9nnnh Information data Any Information objects, one
for each module, occu-
pying a slot, except the
coupler. Any RW For more informa-
tion, see
Module
Identification Objects,
p. 31
F000h Modular Device
Profile 00h Number of entries (NNh) U8 R Value: 5
01h Index distance U16 R This value decides
how many objects
are assigned to each
slot. The value is the
same for all modules,
and thus gives the in-
dex distance be-
tween two slots.
Value: "Number of
ADIs per slot", attrib-
ute #12 in the Modu-
lar Device Object.
See Anybus Com-
pactCom 40 Soft-
ware Design Guide
for more information.
02h Maximum number of
modules U16 R Value: "Number of
slots", Attribute 11 in
the Modular Device
Object. See Anybus
CompactCom 40
Software Design
Guide for more
information.
04h General Information U32 R Value: 0000 0700h
(Subindices 9, 10,
and 11 are supported
in the 9nnnh module
identification objects)
05h Module PDO group of
the device U16 R Set to 0 to force the
coupler process data
to be positioned
ahead of the process
data. This allows for
better integration to-
wards the modular
device host object.
F030h Configured Mod-
ule Ident List 00h Number of Entries
(Number of slots-1) U8 R The master writes
the configured mod-
ule list to these ob-
jects, so that the
slave can compare
the expected module
configuration to the
actual configuration.
01h Module identity of the
module configured on
position 1 (slot 1). U32 RW
... ...
0nh Module identity of the
module configured on
position n (slot n). U32 RW
Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1