Standard objects (0x1000-0x1FFF)

Here, only those objects that have a different meaning than in the CANopen master are described.

Index 1600 RxPDO-Map CAN Interface

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

RxPDO-Map CAN Interface

The CAN interface is mapped into the EtherCAT output data with this PDO. The number of buffers for the CAN messages is configured in object 0x8000. Furthermore, object 0x8000 is used to configure whether the CAN messages are transmitted with an 11-bit identifier (object 0x7000) or with a 29-bit identifier (object 0x7001). Depending on this setting, object 0x7000 or object 0x7001 is mapped in this PDO. The PDO is mandatory and must always be contained in the PDO Assign object 0x1C12

UINT8

RW

 

1600:01

 

1. PDO Mapping entry (object 0x700z (CAN Interface output), entry 0x01 (TX Counter))

UINT32

RW

 

1600:02

 

2. PDO Mapping entry (object 0x700z (CAN Interface output), entry 0x02 (RX Counter))

UINT32

RW

 

1600:03

 

3. PDO Mapping entry (object 0x700z (CAN Interface output), entry 0x03 (Number of TX Messages))

UINT32

RW

 

1600:04

 

4. PDO Mapping entry (object 0x700z (CAN Interface output), entry 0x04 (TX Message 1))

UINT32

RW

 

...

 

..

 

 

 

1600:m

 

m. PDO Mapping entry (object 0x700z (CAN Interface output), entry m (TX Message m-3))

UINT32

RW

 

Index 1A00 TxPDO-Map CAN Interface

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

TxPDO-Map CAN Interface

The CAN interface is mapped into the EtherCAT input data with this PDO. The number of buffers for the CAN messages is configured in object 0x8000. Furthermore, object 0x8000 is used to configure whether the CAN messages are transmitted with an 11-bit identifier (object 0x6000) or with a 29-bit identifier (object 0x6001). Depending on this setting, object 0x6000 or object 0x6001is mapped in this PDO. The PDO is mandatory and must always be contained in the PDO Assign object 0x1C13

UINT8

RW

 

1A00:01

 

1. PDO Mapping entry (object 0x6000 (CAN Interface input), entry 0x01 (TX Counter))

UINT32

RW

 

1A00:02

 

2. PDO Mapping entry (object 0x6000 (CAN Interface input), entry 0x02 (RX Counter))

UINT32

RW

 

1A00:03

 

3. PDO Mapping entry (object 0x6000 (CAN Interface input), entry 0x03 (Number of RX Messages))

UINT32

RW

 

1A00:04

 

4. PDO Mapping entry (object 0x6000 (CAN Interface input), entry 0x04 (TX Transaction Number))

UINT32

RW

 

1A00:05

 

5. PDO Mapping entry (object 0x6000 (CAN Interface input), entry 0x05 (RX Message 1))

UINT32

RW

 

...

 

 ..

 

 

 

1A00:m

 

m. PDO Mapping entry (object 0x6000 (CAN Interface input), entry m (RX Message m-4))

UINT32

RW