Anybus CompactCom 40 EtherCAT, Network Manual, Page: 33 / 138

Object Dictionary (CANopen over EtherCAT) 31 (136)
Module Identification Objects
The first SDO in the 9nnnh range for each module, shall be predefined according to the table
below:
Subindex Type Access Name and Description
00h (0) U8 R Highest sub-index supported.
Value: 11 (0Bh)
09h (9) U16 R Module PDO group.
Value: 1. (The PDO group is set to 1 for all mod-
ules except the coupler to allw coupler data to be
put before module data.)
0Ah (10) U32 R Module Identity
(Module identity for the module according to the
host application.)
0Bh (11) U16
r
Slot (Module number)
PDO Mapping
The Receive PDO mapping objects and the Transmit PDO mapping objects are configured de-
pending on how the host application is set up. One object in the 16xxh series is created for each
module, that holds at least one read mappable ADI. The object numbers will be 1600h + slot
number -1. One object in the 1Axxh series is created for each module, that holds at least one
write mappable ADI. The object numbers will be 1A00h + slot number -1.
If the coupler holds any write or read mappable ADIs, objects will be created for these. Any ob-
jects for the coupler are created after all other mapping objects have been created.
For more information, see Mapping ADIs on PDOs, p. 24 .
Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1