EtherCAT
®
Communication Protocol Manual
– p/n 20021549-001 Rev. B
13
Index
Sub-
Index
Data Type
Backup(B)/
Save(S)?
Access
PDO
Assignable?
Name
Description
0x01
thru
0x08
PDO
MAPPING
(R if SI <= SI0)
(W PREOP if
SI = 0)
0x1C00
Sync Manager
Communication Type
0x01
USINT
RO
Communication Type Sync
Manager 0
1 = Mailbox receive (master to slave)
0x02
USINT
RO
Communication Type Sync
Manager 1
2 = Mailbox send (slave to master)
0x03
USINT
RO
Communication Type Sync
Manager 2
3 = Process data output (master to slave)
0x04
USINT
RO
Communication Type Sync
Manager 3
4 = Process data input (slave to master)
0x1C12
RxPDO Assignment
List of output PDOs
0x01
–
0x1A
UINT
(R if SI <= SI0)
(W PREOP if
SI = 0)
Index of PDO Mapping, i.e.
– 0x17FF
0x1C13
TxPDO Assignment
List of input PDOs
0x01
–
0x1A
UINT
(R if SI <= SI0)
(W PREOP if
SI = 0)
Index of PDO Mapping, i.e.
– 0x1BFE
0x1C32
Output SyncManager
Parameter
Subindexes supported according to ETG.1020 Table 63
0x01
UINT
RW
Sync mode
Free Run 0x00
0x04
UINT
RO
Sync mode supported
Free Run 0x01
0x1C33
Input SyncManager
Parameter
Subindexes supported according to ETG.1020 Table 64
0x01
UINT
RW
Sync mode
Free Run 0x00
0x04
UINT
RO
Sync mode supported
Free Run 0x01
10
Manufacturer Specific Configuration Data
Contains configuration and command status.