# Interface EtherCAT

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To use this sequencer functionality over EtherCAT a special firmware is required as well a specific ESI File to have all sequencer objects available in offline mode.

Sequencer Configurable PDO mapping

User can add additional objects to PDO Output mapping 0x16FF and the Input PDO mapping 0x1AFF.

How to create Input & Output mapping with EC-Engineer

To add the PDO parameters for the Sequencer in addition to the standard buffer (0x1601) in the configurable PDO buffer (0x16FF) following steps are necessary:

Mapping object | Mapping content | Index | Sub-Index | Note
0x16FF | SINT UDINT REAL UINT | Starting Command Target Cycles Target Time Controlword Bitmap | 0x2D00 0x2D00 0x2D00 0x2D00 | 3 5 6 10 | See Note below* See Note below* Bit0:Run, Bit1:Stop, Bit2:Reset Cycle Counter
0x1AFF | UDINT SINT REAL REAL SINT | Cycle Counter Current Command Cycle Time Running Time State | 0x2D00 0x2D00 0x2D00 0x2D00 0x2D00 | 7 4 8 9 2 | Optional Optional

*The Objects Target Cycles and Target Time are there to limit the Sequence. If both Objects are set to ZeSro this means that the Sequence will run until the user will set the Parameter/Object ‘Run’ to ‘False’. If both Objects are set e.g. Target Cycles=3, Target Time=10 then the sequence will run until the lower limit of these two Objects are reached.

•In EC engineer the mapping the configuration is done in Configuration Mode

•Select output buffer 0x16FF “Outputs User 1” and click “Edit” button

•Press “Add” to add a new object:

•Now the User should enter the settings – e.g.:

Name: ‘Starting Command’

Index: ‘0x2D00’

Sub-Index: ‘3’

Datatype: SINT à If a Datatype is selected, the Bit Length will be adapted automatically by the program EC-Engineer.

After all settings are Edit – the user can press OK.

After pressing OK, the user should see the new Added Object. (Red Arrow)

•Press again “Add” and edit the other 3 PDO output objects (Target Cycles, Target Time, Controlword Bitmap) to the PDO output buffer 0x16FF.

Change in Diagnose Mode and change state to OP

oNow this parameters are visible under Variables

•The PDO Input buffer(0x1AFF) can be Added in the same way.

•It is possible to select also Standard PDOmappings to ‘Variables’ and use them. In the picture bellow e.g. Target Position, Control Mode and General Control Setpoint.

•At the End - Save master project to load this configuration on another device.