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Appendix| EtherCAT Documentation
combiSENSOR 6430
A 2.1.3
Addressing and FMMUs
In order to address a slave in the EtherCAT® system, various methods from the master can be used. The
KSS6430 supports as full slave:
- Position addressing
The slave device is addressed via its physical position in the EtherCAT® segment.
The services used for this are APRD, APWR, APRW.
- Node addressing
The slave device is addressed via a configured node address, which was assigned by the master during
the commissioning phase.
The services used for this are FPRD, FPWR and FPRW.
- Logical addressing
The slaves are not addressed individually; instead, a segment of the segment-wide logical 4-GB address is
addressed. This segment can be used by a number of slaves.
The services used for this are LRD, LWR and LRW.
The local assignment of physical slave memory addresses and logical segment-wide addresses is imple-
mented via the field bus Memory Management Units (FMMUs). The configuration of the slave FMMUs is
implemented by the master. The FMMU configuration contains a start address of the physical memory in the
slave, a logical start address in the global address space, length and type of the data, as well as the direction
(input or output) of the process data.
A 2.1.4
Sync Manager
Sync Managers serve the data consistency during the data exchange between EtherCAT® master and
slaves. Each Sync Manager channel defines an area of the application memory. The KSS6430 has four chan-
nels:
- Sync-Manager-Channel 0: Sync Manager 0 is used for mailbox write transfers (mailbox from master to
slave).
- Sync-Manager-Channel 1: Sync Manager 1 is used for mailbox read transfers (mailbox from slave to mas-
ter).
- Sync-Manager-Channel 2: Sync Manager 2 is usually used for process output data. Not used in the sen-
sor.
- Sync-Manager-Channel 3: Sync Manager 3 is used for process input data. It contains the Tx PDOs that are
specified by the PDO assignment object 0x1C13 (hex.).
