ECS PDO Parameter Example
1 Example project
This article is based on the ECS CustomOD example on our knowledge base:
KB → Software → LFW Host Examples → EtherCAT Slave
For netX90:
2 ECS Sources
The ECS Sources in the ECS CustomOD Example can be found in the following folder:
netXStudio_ECSV5_simpleConfig_V2.1.0.0\netX 90 - EtherCAT Slave - simpleConfig V2.1.0.0\Components\cifXApplicationDemoECS\Sources
Replace the folder “cifXApplicationDemoECS”, with these new files:
3 Changes
The ETG1020 defines some PDO parameters, like the objects 0x1400 and 0x1800.
These Parameters are used in this example and can be found in the file AppECS_DemoObjectDictionary.h
| Object | Subobject |
|---|---|
| 0x1400 | 0x1400:08 RxPDO Contro 0x1400:09 RxPDO Toggle |
| 0x1800 | 0x1400:07 TxPDO State 0x1400:09 TxPDO Toggle |
| 0x0000 | 0x0000:01 Dummy |
The subindexes have the datatype boolean. A dummy object with 6 Bits is necessary for 1 Byte.
A PDO always consists of a complete Byte 2 Bit + 6 Bit = 1 Byte.
The objects have to be mapped to a PDO. The TwinCAT CoE view shows the mapping to the PDO 0x1600 and the PDO 0x1A00 :
