For this example the following objects will need to be set in order to achieve the mappings of the parameters/objects in the PDOs.
| Table 5.3 Cyclic data mapping configuration |
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| RxPDO1: | TxPDO1: | TxPDO6: |
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| Object: | 0x1600 | Object: | 0x1A00 | Object: | 0x1A05 |
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| 0x00 | 0x00 | 0x00 |
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| Size: | 1 | Size: | 1 | Size: | 1 |
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| Value: | 3 | Value: | 2 | Value: | 2 |
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| 0x01 | 0x01 | 0x01 |
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| Size: | 4 | Size: | 4 | Size: | 4 |
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| Value: | 0x60400010 | Value: | 0x60410010 | Value: | 0x20121610 |
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| 0x02 | 0x02 | 0x02 |
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| Size: | 4 | Size: | 4 | Size: | 4 |
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| Value: | 0x60420010 | Value: | 0x60640020 | Value: | 0x20141620 |
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| 0x03 | Not Used | Not Used |
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| Size: | 4 |
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| Value: | 0x20141520 |
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| The format used to define the value of a mapped object is as follows: | ||||||
NOTE | |||||||
| Bit 0 to 7: Length of the mapped object in bits (if a gap, bit length of the gap). | ||||||
| Bit 8 to 15: |
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| Bit 16 to 31: Index of the mapped object (if a gap, zero). |
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| The maximum number of mappings in one PDO is five. There are no restrictions on the | ||||||
NOTE | |||||||
| data length of these 5 parameters (i.e. It is possible to map five, | ||||||
| one PDO). It is also possible to use a maximum of 2 x RxPDOs and 2 x TxPDOs. |
5.1.4Configuring the Sync Managers
The Sync manager is used to control the transmission of CANopen PDOs over the EtherCAT network.
The following objects 0x1C12 - Sync manager 2 PDO assignment (RxPDO) and 0x1C13 - Sync manager 3 PDO assignment (TxPDO) are required to assign PDOs to the synchronization task. For the purpose of the example assign one RxPDO to sync manager 2 and two TxPDOs to sync manager 3.
Figure 5-2 SM-EtherCAT sync manager configuration
0x1C12
RxPDO1
0x6040 | 0x6042 | Pr 20.21 | |
Control word | vl_target_velocity | ||
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PLC | 0x1C13 |
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| TxPDO1 | 0x6064 | TxPDO6 |
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| 0x6041 |
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| position | Pr 18.22 | Pr 20.22 | |
| Status word | |||
| actual value |
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Information | Safety |
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Introduction | |
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Installation | Mechanical |
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Installation | Electrical |
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Started | Getting |
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Protocols | |
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support | Drive profile |
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features | Advanced |
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Diagnostics | |
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Reference | Quick |
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Terms | Glossary |
| Of |
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Index | |
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15 | |
Issue Number: 2 | www.controltechniques.com |