Anybus CompactCom 40 EtherCAT, Network Manual, Page: 32 / 138

Object Dictionary (CANopen over EtherCAT) 30 (136)
Index Object Name Sub-
index Description Type Access Notes
F050h Detected Module
Ident List 00h Number of Entries
(Number of slots-1) U8 R This object contains
information about the
modules, in the occu-
pied slots, scanned
from the application.
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
F600h
-
F6FFh Input data area
for the coupler Any ADIs for the coupler that
are write process map-
pable will be repre-
sented in this range. Any R, RW
-
F700h
-
F7FFh Output data area
for the coupler Any ADIs for the coupler that
are read process map-
pable will be repre-
sented in this range. Any W, RW
-
If the Configured Module Ident List (F030h) does not match the Detected Module Ident List
(F050h), the module will indicate a mismatch configuration by setting the ALStatusCode register
to 0070h. The module will not enter SAFE-OPERATIONAL state.
ADI to SDO Translation
In the Modular Device Profile, all ADIs have to be mapped in numbering order. The number of
ADIs mapped per slot is defined in the Modular Device Object, where the same number of ob-
jects is assigned to each slot. Depending on whether the ADIs are write or read mappable, they
will be mapped to different object ranges. An ADI that is both read and write mappable will be
mapped to both ranges. Please note that the SDOs are assigned in number order, but occupy
different ranges, depending on type.
The ADIs, that are neither read nor write mappable, will not be mapped to an SDO, resulting in
“empty SDOs” as shown in the table below.
Module ADI Type SDO
0 (Coupler) 1 Write mappable F600h
2 Read mappable F701h
3 Write mappable F602h
4 Read mappable F703h
5 Not mappable
-
1 6 Read mappable 7000h
7 Write mappable 6001h
8 Writable -
9 Read only
-
10 Read mappable 7004h
2 11 Writeable
-
12 Read only
-
- - -
14 Write mappable 6008h
15 Write and Read
mappable 6009h and 7009h
Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1