EtherCAT to MODBUS RTU Gateway

In order to communicate with internal memory of NLi integrated motor, an SDO mapping is available on the Bus Converter. This communication type is available when the Bus Converter Mode is set to 1 ⇒ EtherCAT to MODBUS RTU.

Address	Name	Description
0x800D Subindex 1	SLAVE_MODBUS_STATUS_WORD	Current MODBUS RTU status word related to the current slave ID Possible Value: 0 → Init State 1 → Ready 3 → Automatic Homing 5 → Run 6 → I2T Fault 13 → SIN/COS Encoder fault 14 → Overtemperature fault 15 → Power stage overcurrent fault 16 → DC Link overrange fault
0x800D Subindex 2	SLAVE_MODBUS_CONTROL_WORD	Current MODBUS RTU control word related to the current slave ID Possible value: 0 → No Command 1 → Start Homing 3 → Enable drive 6 → Disable drive 10 → Start motion 11 → Stop motion 12 → Drive reset
0x800D Subindex 3	SLAVE_MODBUS_ADDRESS	Current MODBUS RTU Address used for read or write
0x800D Subindex 4	SLAVE_MODBUS_DATA	Current MODBUS RTU Data read or to write
0x800D Subindex 5	SLAVE_MODBUS_FUNC_CODE	MODBUS RTU Function code (3 ⇒ Read, 6⇒ Write)
0x800D Subindex 6	SLAVE_MODBUS_CURRENT_POSITION	Current axis position using MODBUS RTU

Codesys example project using FCT640 PLC : :gtw_ethercat:gtw_eth_slave_modbus.zip