Communication Protocols
Copyright IXXAT Automation GmbH
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IEM Manual, 1.5
Index not existing (value = 2)
The object index to be mapped is not available
Sub index not existing (value = 3)
The object sub index to be mapped is not available
Parameter incompatibility (value = 6)
Invalid mapping offset, e.g. a bit is not mapped at byte offset
Data type mismatch (value = 9)
Byte length of object to be mapped is incorrect
Data not mappable (value = 10)
Invalid access rights, e.g. no process data
Invalid mapping (value = 11)
PDO configuration not valid, e.g. wrong Sync Manager
Invalid count (value = 12)
PDO count is out of range
Invalid range (value = 16)
Element count exceeds range
5.3.7.3 Store PDO configuration
To speed up startup time with large configurations, a valid PDO mapping can
be stored on IEM flash. The
COM_k_STORE_DYN_OBJECTS
command starts writ-
ing of the actual PDO mapping to the flash. The configuration is loaded auto-
matically from IEM flash with next startup, if the valid flag of the init configura-
tion area is not set.
5.3.8 Process data exchange
5.3.8.1 Static mapping
The mapping of data between Host and IEM is generated during startup by
evaluating the Sync Manager Configuration information and the Rx/Tx PDO
mapping content which is provided by the application. Each process data ob-
ject identified by index and subindex is coupled with EtherCAT offset infor-
mation indicating the data location on protocol side. Referencing the offset and
length of each PDO at the SHM, data is copied in byte granularity.
5.3.8.2 Dynamic mapping
Any mapping provided by the application can be modified by adding process
data objects. This modified mapping has to be downloaded (see chapter
5.3.7.1.1).
