Table of Contents
Codesys / TwinCAT Integration
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NiLAB Gateway can be used in combination with Codesys / TwinCAT or Schneider Electric Machine Expert PLC solution.
Please use this ESI Device Description xml for configuration: :gtw_ethercat:gtw-eth-can-modbus.zip
Note that the BUS Converter is mapped as MDP (Modular Device Profile).
In order to use the ESI File in Twincat you have to copy to C:\TwinCAT\3.1\Config\Io\EtherCAT directory and then restart TwinCAT.
PDI - Input Data Structure
A maximum of 10 NLi motors can be mapped at the same time.
| Address | Data Type | Description |
| 0x6000 | UINT16 | Status |
| 0x6001 | UINT16 | Current slave ID |
| 0x6002 | UINT64 | PDO Slave Node id 1 (Status Word) |
| 0x6003 | UINT64 | PDO Slave Node id 2 (Status Word) |
| 0x6004 | UINT64 | PDO Slave Node id 3 (Status Word) |
| 0x6005 | UINT64 | PDO Slave Node id 4 (Status Word) |
| 0x6006 | UINT64 | PDO Slave Node id 5 (Status Word) |
| 0x6007 | UINT64 | PDO Slave Node id 6 (Status Word) |
| 0x6008 | UINT64 | PDO Slave Node id 7 (Status Word) |
| 0x6009 | UINT64 | PDO Slave Node id 8 (Status Word) |
| 0x600A | UINT64 | PDO Slave Node id 9 (Status Word) |
| 0x600B | UINT64 | PDO Slave Node id 10 (Status Word) |
| 0x600C | UINT16 | INPUTS (Remote Inputs) |
PDO - Output Data Structure
| Address | Data Type | Description |
| 0x7000 | UINT16 | GTW_CONTROL_WORD |
| 0x7001 | UINT16 | Slave ID |
| 0x7002 | UINT64 | Synchronization signal |
| 0x7003 | UINT64 | PDI Slave 1 (Control Word) |
| 0x7004 | UINT64 | PDI Slave 2 (Control Word) |
| 0x7005 | UINT64 | PDI Slave 3 (Control Word) |
| 0x7006 | UINT64 | PDI Slave 4 (Control Word) |
| 0x7007 | UINT64 | PDI Slave 5 (Control Word) |
| 0x7008 | UINT64 | PDI Slave 6 (Control Word) |
| 0x7009 | UINT64 | PDI Slave 7 (Control Word) |
| 0x700A | UINT64 | PDI Slave 8 (Control Word) |
| 0x700B | UINT64 | PDI Slave 9 (Control Word) |
| 0x700C | UINT64 | PDI Slave 10 (Control Word) |
| 0x700D | UINT16 | OUTPUTS (Remote Outputs) |
SDO Configuration data
| Address | Data Type | Description |
| 0x8000 | Rercord | Gateway configuration |
| 0x8001 | Record | Pos Table Row 1 |
| 0x8002 | Record | Pos Table Row 2 |
| 0x8003 | Record | Pos Table Row 3 |
| 0x8004 | Record | Pos Table Row 4 |
| 0x8005 | Record | Pos Table Row 5 |
| 0x8006 | Record | Pos Table Row 6 |
| 0x8007 | Record | Pos Table Row 7 |
| 0x8008 | Record | Pos Table Row 8 |
| 0x8009 | Record | Pos Table Row 9 |
| 0x800A | Record | Pos Table Row 10 |
| 0x800B | Record | Slave PDO Mapping |
| 0x800C | Record | Slave PDI Mapping |
| 0x800D | Record | Current Slave Modbus Data |