Modular Device Profil Mapping of EL6751 (MDP)

The MDP mapping mode for the EL6751 is activated via the "EtherCAT" tab of the CANopen device.

If the "MDP Mapping (from V01.00)" radio button is activated, the following mapping options of the process image are available for selection:

Box State

This option extends the input process image by the "NodeState" of a box.
See Index F102 Node State.

Diag Flag

This option extends the input process image by the "Diag Flag" of a box.
See Index F103 CANopen Diag Flag.

PDO Toggle (/PDO State)

In order to use this option, you have to additionally set a selection at "PDO-Toggle/PDO-State" in the characteristics of the desired TxPDO.

If the "PDOToggle" option is selected in the MDP Diaglog, the input process image is extended by the PDOToggle bit varibale.
See Index 6004-67E4 CAN TxPDOs Toggle Node.

If the "PDOToggle" - option is not selected in the MDP Diaglog, the selection "PDO-Toggle/PDO-State" for TxPDO extends the input process image by the PDOState bit varibale.
See Index Index 6008-67E8 CAN TxPDOs PDOState.

Control

This option adds the "control flags" to the output process image.
See Index F200 Control.

8-Byte Align of PDOs

If this option is set, each CAN PDO occupies 8 bytes in the EtherCAT process data, even if it is smaller than 8 bytes.

If this option is not set, the CAN PDOs in the EtherCAT process data are appended one after the other.

Maximum / Minimum Diagnosis

The minimal diagnosis contains objects from the CAN state (object 0xF108).

The maximum diagnosis is extended and contains objects from the CAN status (Object 0xF108) and the diagnosis of the CANopen Master (Object 0x101).