manual_ect_clu_e
The EtherCAT realtime library system of SYBERA enables a custom ethernet adapter under Windows as an EtherCAT Master
The EtherCAT realtime library system of SYBERA enables a custom ethernet adapter under Windows as an EtherCAT Master
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EtherCAT<br />
Realtime Master Library<br />
Documentation<br />
SYBERA Copyright © 2014<br />
7.7.1 PDO Mapping<br />
The PDO mapping allows to assign desired function data to the EtherCAT telegram. The<br />
PDO mapping is tunneled via SDO (Service Data Obj<strong>ect</strong>s).<br />
PDO mapping by DS402<br />
Application Layer<br />
CoE Rx PDO<br />
0x6040 0x60FF<br />
Control Velocity<br />
Word Control<br />
0x607A<br />
Position<br />
Control<br />
0x6071<br />
Torque<br />
Control<br />
CoE Tx PDO<br />
0x6041 0x606C<br />
Status Velocity<br />
Word Status<br />
0x6064<br />
Position<br />
Status<br />
0x6077<br />
Torque<br />
Status<br />
Rx PDO Assign<br />
0x1C12<br />
SYNCMAN 2<br />
Tx PDO Assign<br />
0x1C13<br />
SYNCMAN 3<br />
Rx PDO Mapping<br />
0x1600<br />
Tx PDO Mapping<br />
0x1A00<br />
Mailbox Output<br />
(e.g. ADO = 1800)<br />
Mailbox Input<br />
(e.g. ADO = 18F6)<br />
Process Data<br />
SYNCMAN 2 SYNCMAN 3<br />
Data Link Layer<br />
SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 63
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