Bus Interface Configuration

Bus Communication

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

Register	Name	Description
0x8000 Sub index 1	N_SLAVE	Number of active slaves
0x8000 Sub Index 2	SYNC_TIME_CAN	Sync time of can transmission to Slaves
0x8000 Sub Index 3	SYNC_TIME_CAN_PDO	Sync time of PDO transmission to Slaves
0x8000 Sub index 4	SYNC_TIME_MODBUS	Sync time of Modbus RTU transmission to Slaves
0x8000 Sub index 5	CAN_TIMEOUT	CanOpen Timeout
0x8000 Sub index 6	MODBUS_TIMEOUT	Modbus RTU timeout
0x8000 Sub Index 7	GATEWAY_MODE	0 ⇒ EtherCAT to CAN (1Mbit/sec) 1 ⇒ EtherCAT to MODBUS
0x8000 Sub Index 8	GATEWAY_FW_VERSION	Firmare 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 1	PDO1_Address	CanOPEN PDO1 object address on slaves
0x800B Sub Index 2	PDO1_Length	CanOPEN PDO1 object size on slaves
0x800B Sub Index 3	PDO2_Address	CanOPEN PDO2 object address on slaves
0x800B Sub index 4	PDO2_Length	CanOPEN PDO2 object size on slaves
0x800B Sub index 5	PDO3_Address	CanOPEN PDO3 object address on slaves
0x800B Sub index 6	PDO3_Length	CanOPEN PDO3 object size on slaves
0x800B Sub Index 7	PDO4_Address	CanOPEN PDO4 object address on slaves
0x800B Sub Index 8	PDO4_Length	CanOPEN 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 1	PDI1_Address	CanOPEN PDI1 object address on slaves
0x800C Sub Index 2	PDI1_Length	CanOPEN PDI1 object size on slaves
0x800C Sub Index 3	PDI2_Address	CanOPEN PDI2 object address on slaves
0x800C Sub index 4	PDI2_Length	CanOPEN PDI2 object size on slaves
0x800C Sub index 5	PDI3_Address	CanOPEN PDI3 object address on slaves
0x800C Sub index 6	PDI3_Length	CanOPEN PDI3 object size on slaves
0x800C Sub Index 7	PDI4_Address	CanOPEN PDI4 object address on slaves
0x800C Sub Index 8	PDI4_Length	CanOPEN PDI4 object lenght on slaves