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EtherCAT to MODBUS RTU Gateway

In order to communicate with internal memory of NLi integrated motor, an SDO mapping is available on the Bus Converter. This communication type is available when the Bus Converter Mode is set to 1 ⇒ EtherCAT to MODBUS RTU.

Address Name Description
0x800D Subindex 1SLAVE_MODBUS_STATUS_WORDCurrent MODBUS RTU status word related to the current slave ID
Possible Value:
0 → Init State
1 → Ready
3 → Automatic Homing
5 → Run
6 → I2T Fault
13 → SIN/COS Encoder fault
14 → Overtemperature fault
15 → Power stage overcurrent fault
16 → DC Link overrange fault
0x800D Subindex 2SLAVE_MODBUS_CONTROL_WORDCurrent MODBUS RTU control word related to the current slave ID
Possible value:
0 → No Command
1 → Start Homing
3 → Enable drive
6 → Disable drive
10 → Start motion
11 → Stop motion
12 → Drive reset
0x800D Subindex 3SLAVE_MODBUS_ADDRESSCurrent MODBUS RTU Address used for read or write
0x800D Subindex 4SLAVE_MODBUS_DATACurrent MODBUS RTU Data read or to write
0x800D Subindex 5SLAVE_MODBUS_FUNC_CODEMODBUS RTU Function code (3 ⇒ Read, 6⇒ Write)
0x800D Subindex 6SLAVE_MODBUS_CURRENT_POSITIONCurrent axis position using MODBUS RTU

Codesys example project using FCT640 PLC : :gtw_ethercat:gtw_eth_slave_modbus.zip