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3.4 PDO mapping
PDO mapping refers to the mapping of application objects (real-time data, e.g. object
Object 6004h: Position value from the object dictionary into Process Data Objects, e.g.
Object 1A00h: 1
The current mapping can be read via corresponding entries in the object dictionary,
the so-called mapping tables. The number of mapped objects that are listed
subsequently is found at the top of the mapping table (subindex 0). The tables are
located in the object dictionary at index 0x1600 up to _FF for the RxPDOs and 0x1A00
up to _FF for the TxPDOs
3.5 EtherCAT State Machine (ESM)
The Application Management contains the EtherCAT State Machine, which describes
the states and state changes of the slave application. Apart from a few details, the
ESM corresponds to the CANopen Network Management (NMT). In order to enable
reliable starting behavior the "Safe Operational" state has been introduced in
EtherCAT. In this state valid entries are transmitted, while the outputs remain in safe
status.
Figure 4: EtherCAT State Machine
Status
IP
PI
PS
SP
SO
OS
OP
SI
OI
Printed in the Federal Republic of Germany
06/20/2017
st
Transmit PDO Mapping.
Description
Start Mailbox Communication
Stop Mailbox Communication
Start Input Update
Stop Input Update
Start Output Update
Stop Output Update
Stop Output Update, Stop Input Update
Stop Input Update, Stop Mailbox Communication
Stop Output Update, Stop Input Update, Stop Mailbox Communication
TR - ECE - BA - DGB - 0127 - 04
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