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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 |