Bus Interface Configuration

Bus Communication

Configuration of the Bus Interface is on SDO:GATEWAY_CONF (0x8000)

Register Name Description
0x8000 Sub index 1N_SLAVENumber of active slaves
0x8000 Sub Index 2SYNC_TIME_CANSync time of can transmission to Slaves
0x8000 Sub Index 3SYNC_TIME_CAN_PDOSync time of PDO transmission to Slaves
0x8000 Sub index 4SYNC_TIME_MODBUSSync time of Modbus RTU transmission to Slaves
0x8000 Sub index 5CAN_TIMEOUTCanOpen Timeout
0x8000 Sub index 6MODBUS_TIMEOUTModbus RTU timeout
0x8000 Sub Index 7GATEWAY_MODE0 ⇒ EtherCAT to CAN (1Mbit/sec)
1 ⇒ EtherCAT to MODBUS
0x8000 Sub Index 8GATEWAY_FW_VERSIONFirmare version on the device

Note that the CanOPEN bus speed can be changed using MODBUS RTU communication, writing on register 0xEF (254d).

PDO slaves Configuration

PDO Mapping can be configured using SDO:Slave_PDO_Mappoing (0x800B)

Register Name Description
0x800B Sub index 1PDO1_AddressCanOPEN PDO1 object address on slaves
0x800B Sub Index 2PDO1_LengthCanOPEN PDO1 object size on slaves
0x800B Sub Index 3PDO2_AddressCanOPEN PDO2 object address on slaves
0x800B Sub index 4PDO2_LengthCanOPEN PDO2 object size on slaves
0x800B Sub index 5PDO3_AddressCanOPEN PDO3 object address on slaves
0x800B Sub index 6PDO3_LengthCanOPEN PDO3 object size on slaves
0x800B Sub Index 7PDO4_AddressCanOPEN PDO4 object address on slaves
0x800B Sub Index 8PDO4_LengthCanOPEN PDO4 object lenght on slaves

PDI slaves Configuration

PDO Mapping can be configured using SDO:Slave_PDO_Mappoing (0x800B)

Register Name Description
0x800C Sub index 1PDI1_AddressCanOPEN PDI1 object address on slaves
0x800C Sub Index 2PDI1_LengthCanOPEN PDI1 object size on slaves
0x800C Sub Index 3PDI2_AddressCanOPEN PDI2 object address on slaves
0x800C Sub index 4PDI2_LengthCanOPEN PDI2 object size on slaves
0x800C Sub index 5PDI3_AddressCanOPEN PDI3 object address on slaves
0x800C Sub index 6PDI3_LengthCanOPEN PDI3 object size on slaves
0x800C Sub Index 7PDI4_AddressCanOPEN PDI4 object address on slaves
0x800C Sub Index 8PDI4_LengthCanOPEN PDI4 object lenght on slaves