ESD EtherCAT ECX-EC E.3022.02, Manual

Page: 34 / 74

Software
6.2.3 Definition of the Bridge Variables
The PDO 0x1A00 is specified for input data and PDO 0x1600 for output data.
The definition of the corresponding variables, and thereby the size of the process data, result from
the objects that are mapped into these PDOs.
As input variables the entries of object 0x6000 and as output variables the entries of object 0x7000
are used.
The length of the in- and output variables may be at maximum 1024 byte in sum.
Example (corresponds to the example for the primary side in chapter 6.1 / Fig. 7)
•
one input variable, 32 bit
•
two output variables, 8 and 32 bit
The following PDO content results:
PDO
Sub
index
Data Description
0x1A00 0x00 0x01 Max. sub index / number of inputs
0x1A00 0x01 0x60000120 Object 0x6000 sub index 1, 32 bit
0x1600 0x00 0x02 Max. sub index / number of entries
0x1600 0x01 0x70000108 Object 0x7000 sub index 1, 8 bit
0x1600 0x02 0x70000220 Object 0x7000 sub index 2, 32 bit
The sub indices of the variables used (0x6000/0x7000) are incremented for each variable. If
another input variable would be mapped, it would be 0x6000 sub index 2, the following output
variable 0x7000 sub index 3, an so on.
(For alignment purposes the object 0x0000 sub index 0x00 can be additionally mapped in any of
this two PDOs. The ECX-EC does not need this.)
INFORMATION
The input variables of one side must exactly match the output variables of the other side,
otherwise the ECX-EC Slave will not allow the change into the “SafeOp/Op”-state.
For the example the content of the PDO of the other side is:
PDO Sub index Data Description
0x1A00 0x00 0x02 Max. sub index / number of entries
0x1A00 0x01 0x60000108 Object 0x6000 sub index 1, 8-bit
0x1A00 0x02 0x60000220 Object 0x6000 sub index 2, 32-bit
0x1600 0x00 0x01 Max. sub index / number of entries
0x1600 0x01 0x70000120 Object 0x7000 sub index 1, 32-bit
INFORMATION
Ideally the configuration of the PDOs shown above is simplified by an EtherCAT
configuration tool. An example for the configuration of the variables with the EtherCAT
Workbench is shown in chapter 6.1.2.
Page 34 of 74 Manual • Doc. No.: E.3022.21 / Rev. 1.9 ECX-EC