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A4 - 5
A4 Appendix Object Dictionary
GRT1-series EtherCAT Communication Unit - Operation Manual
A4-1 Object Dictio
nary
A
A4-1-
5 PDO Mappin
g Object
Indexes 1600 hex to 17FF hex are used for Receive PDO mapping, and indexes 1A00 hex to 1BFF hex
are used for Transmit PDO mapping. Sub-indexes after sub-index 1 provide information about the
application object being mapped.
• The number of RxPDO mapping entries for digital outputs depends on the total number of digital
outputs connected to the GRT1-ECT. When no digital outputs are connected, object 1600 hex will
contain 0 entries.
• The RxPDO mapping for digital outputs will only hold 240 entries maximum per index. When the
index is completely filled, it will ‘overflow’ into the next object which again can contain a maximum of
240 entries, and so on. Value range (depends on the total number of digital outputs): (kk = 00..02)
hex, (hh = 01..F0) hex
A4-1-5 PDO Mapping Object
31 16 15 8 7 0
Indexes
Sub
Indexes
Bit length
MSB LSB
Bits 0 to 7 : Bit length of the mapped object.
(For example, for 32 bits, 20 hex is given.)
Bits 8 to 15 : Sub-index of the mapped object.
Bits 16 to 31 : Index of the mapped object.
16kk hex RxPDO mapping parameter digital outputs [n..n+hh], where n=kk*240+1
Sub-index 0: Number of objects
Range:
−
Unit:
−
Default: hh (+1 when padding is used) Attribute:
−
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: Digital output n
Range:
−
Unit:
−
Default: 70kk0101 hex Attribute:
−
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index ...
Range:
−
Unit:
−
Default: ... Attribute:
−
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index hh: Digital output n+hh
Range:
−
Unit:
−
Default: 70kkhh01 hex Attribute:
−
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index hh+1: Padding bits to make object size a multiple of 8 bits (optional)
Range:
−
Unit:
−
Default: 000000[01..07] hex Attribute:
−
Size: 4 bytes (U32) Access: RW PDO map: Not possible
1610 hex RxPDO mapping parameter analog outputs [1..hh]
Sub-index 0: Number of objects
Range:
− Unit: − Default: hh Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: Analog output 1
Range:
− Unit: − Default: 70100110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index ...
Range:
− Unit: − Default: ... Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index n: Analog output n
Range:
− Unit: − Default: 7010hh10 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible