Communication Protocols
Copyright IXXAT Automation GmbH
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IEM Manual, 1.5
5.3.7 Configuration
For configuration of EtherCAT a data mapping has to be available at the mod-
ule to establish process data communication. EtherCAT data mapping uses
the PDO mechanisms to assign process data objects.
5.3.7.1 PDO mapping
Process data objects can be selected and mapped to available PDO’s.
The EtherCAT FW supports 2
static predefined PDO’s per data direction (start-
ing with FW V1.2.0 up to 5 PDO’s per data direction with flexible index configu-
ration). Up to 45 mapping entries per PDO are allowed (starting with FW
V1.2.0 up to 50 mapping entries per PDO).
There are 2 basic mechanisms for submitting the mapping to the device.
5.3.7.1.1
Configuration by tool (TwinCAT)
Mapping data generated by the configuration tool are downloaded by SDO
commands if checkboxes are activated as shown in the screenshot. Mapping
object values are automatically written by the IEM.
Using the tool mapping download feature is recommended for creating a map-
ping which can be stored later on the IEM. Remember that the tool based
mapping download is not useful for a constant mapping since the startup time
will be increased by SDO transfers.
Figure 5-20: Configuration download by tool
