Communication Protocols
Copyright IXXAT Automation GmbH
109
IEM Manual, 1.5
5.3.5.2 Data mapping
The EtherCAT device can submit data mapping contents using a part of the
initialization area called
aw_MapData[]
. See Figure 5-17 for all of the elements
provided by structure
COM_t_ECT_INIT_CFG
.
Typedef struct
{
COM_t_BOARD_CONFIG s_BoardConfig;
COM_t_ECT_DEVICE_INFO s_DeviceInfo;
UINT16 aw_MapData[(COM_k_ECT_SIZE_PDO_CFG)>>1];
} COM_t_ECT_INIT_CFG;
Figure 5-17: Data structures used during configuration download
5.3.6 Object dictionary
All data objects are part of the object dictionary. Communication profile objects
are separated from application profile objects.
5.3.6.1 Communication profile area
Objects with index range 0x1000-0x1FFF are fix part of the communication
profile area. The Figure 2-2 shows the objects with their definitions.
Index
Object
Type
PDO
mappable
SI
count
Comment
0x1000 Device type
UINT32
1
EtherCAT Slave
0x1001 Error register
UINT8
1
Error value set by
host
0x1008 Device name
VISIBLESTRING
1
Init config data
0x1009 Manufacture HW
version
VISIBLESTRING
1
Init config data
0x100A Manufacture SW
version
VISIBLESTRING
1
Init config data
0x1010 Store parameters
ARRAY
1
Only event genera-
tion
0x1011 Restore parame-
ters
ARRAY
1
Only event generea-
tion
0x1018 Identity object
RECORD
5
Init config data
0x10F1 Sync error
RECORD
2
0x10F3 Diagnosis history
RECORD
RxPDO
(subidx 4)
5…25
(max.)
Counter limit (sub-
index 2) set by host
0x10F8 Local timestamp
UINT64
TxPDO
1
1ms resolution
0x1600
–
Rx PDO mapping ARRAY
5 x 50
(max.)
Index configurable
