EtherCAT features supported by BL20
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16
4.1.4
Module object area (0×6000 - 0×AFFF)
Input data object area (0×6xxx)
Each module has one input data object with several sub-objects depending on the channel count
of the connected module.
The input data objects are mapped to TxPDOs which are read cyclically by the Master. There is one
TxPDO per module defined.
The index of the input data object depends on the module‘s slot-number within the BL20-station:
from:
Index = 0×6000 + (slot number-1) x 0×0010
module 1 = 0× 6000, module 2 = 0×6010, module 3 = 0×6020, etc.)
The input data area and the TxPDOs of a module only exist if input data of the module is available.
Output data object area (0×7xxx0)
Each module has one output data object with several sub-objects depending on the channel count
of the connected module.
The output data objects are mapped in a RxPDO so that it is read cyclically. There is one RxPDO per
module defined.
The index of the output data object depends on the module‘s slot-number within the BL20-station:
from:
Index = 0×7000 + (slot number-1) x 0×0010
module 1 = 0× 7000, module 2 = 0×7010, module 3 = 0×7020, etc.)
The output data area and the RxPDOs of a module only exist if output data of the module is avail
-
able.
Configuration data object area (0×8xxx)
Each module has one configuration data object with several sub-objects depending on the channel
count of the connected module.
The index of the configuration data object depends on the module‘s slot-number within the BL20-
station:
Index = 0×8000 + (slot number-1) x 0×0010
module 1 = 0× 8000, module 2 = 0×8010, module 3 = 0×8020, etc.)
Some sub-indices contain module-parameters.
The EtherCAT-Master can write them to the gateway or the modules during the state transition from
EtherCAT State Machine (page 12)
).
Object area
Index Range
Modular Device
Input data, see s.
0×6xxx
Conditional
Output data, see s.
0×7xxx
Conditional
Configuration data, see s.
0×8xxx
Optional
Information data, see s.
0×9xxx
Optional
Diagnostic data, see s.
0×Axxx
Optional
Summary of Contents for 6827380
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