Communication Protocols
Copyright IXXAT Automation GmbH
112
IEM Manual, 1.5
5.3.7.1.2
Configuration by application
The mapping is transferred by the application at the initialization phase. This
can be done either with the
COM_k_ECT_PDO_ASSIGN
command parameter
(see Figure 5-21) for each single mapping object or using the asynchronous
data area for mapping transfer. If using the asynchronous data area, pay at-
tention for the limited size available for mapping.
The command mechanism offers flexibility if more than one configuration has
to be supported, e.g. for drives with different operation modes.
When using the
init configuration
method only, mapping data organized in an
array of 16 bit elements are expected. The content corresponds to the data
generated by the configuration tool for mapping. The layout is described at the
host demo application:
/** aw_PdoConfig:
EtherCAT specific PDO mapping layout.
*/
static const UINT16 aw_PdoConfig[12] =
{
1, 0x1600, /* SM2 count and assignment */
1, 0x1A00, /* SM3 count and assignment */
1, /* RxPdo 0x1600 count */
0x6200, 0x0008, /* RxPdo with bit size 8 */
0, /* RxPdo 0x1601 count */
1, /* TxPdo 0x1A00 count */
0x6000, 0x0008, /* TxPdo with bit size 8 */
0 /* TxPdo 0x1A01 count */
};
Figure 5-21: Example of an init configuration use
When using the command parameter mechanism, each single entry is sub-
mitted using a protocol specific command. The setup for identical PDO map-
ping looks like this:
/** APP_t_ECT_MAPPING:
EtherCAT specific PDO mapping layout.
*/
typedef struct
{
UINT16 w_index;
UINT8 b_subindex;
UINT8 b_length;
UINT32 dw_value;
}APP_t_ECT_MAPPING;
static APP_t_ECT_MAPPING as_PdoConfig[8] =
