Anybus CompactCom 40 EtherCAT, Network Manual, Page: 26 / 138

Object Dictionary (CANopen over EtherCAT) 24 (136)
Mapping ADIs on PDOs
The Receive PDO mapping objects (1600h - 1xxxh) and the Transmit PDO mapping objects
(1A00h - 1xxxh) are configured depending on how the host application is set up:
Mode Access Number of objects (in
each direction) Number of sub indices
per object Notes
Generic, static
mapping RO 1 - 6
Depends on how many
ADI mapping items that
are mapped by the appli-
cation during setup. Each
PDO can hold 254 ADI
mapping items. 1 - 254
Depends on how many
ADI mapping items that
are mapped by the appli-
cation during setup. One
PDO mapping object at
the time will be filled with
mapped items.
Generic, dynam-
ic mapping RW 1 - 6
Depends on how many
ADI mapping items that
are mapped by the appli-
cation during setup. Each
PDO can hold 254 ADI
mapping items. 254 (except the 6th ob-
ject, that has 216 sub in-
dices as the maximum
number of entries is
1486) If theTwinCAT 3, or a
later version of 2.11,
tool is used, the max-
imal number of en-
tries will be 1473
bytes, due to limita-
tions in the tool.
Assembly Map-
ping Object im-
plemented in
host RO/RW Number of assembly
mapping instances in
that direction (max 63) 1486/(number of objects)
(max 254) See Assembly Map-
ping Object (EBh), p.
67
for more
information.
Access is RO if the
corresponding as-
sembly instance is
static, RW if it is
dynamic
If the TwinCAT 3, or
a later version of
2.11, tool is used, the
maximal number of
entries will be 1473
bytes, due to limita-
tions in the tool.
Modular device,
static mapping RO Same as the number of
modules that have ob-
jects mappable in that di-
rection (max 63) Same as the number of
ADIs mapped in that di-
rection during setup
Modular device,
dynamic
mapping RW Same as the number of
modules that have ob-
jects mappable in that di-
rection (max 63) 1486/(number of objects)
(max 254) If theTwinCAT 3, or a
later version of 2.11,
tool is used, the max-
imal number of en-
tries will be 1473
bytes, due to limita-
tions in the tool.
Please note that in Generic mode and in Modular Device Profile mode, the ADI to PDO mapping
is performed by the application at startup. Also note that if both the Assembly Mapping Object
and the Modular Device Object are implemented in the host, the Modular Device Profile mode
will be enabled, overriding the settings of the Assembly Mapping Object.
Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1