# PDO Process data objects

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RxPDO Output mappings

The EtherCAT process data mapping is done automatically corresponding to the following list and respectively to the sync manager information.

Mapping object | Mapping content
0x1600 | SINT32 SINT32 SINT32 SINT32 SINT8 UINT16 FLOAT | Target Pressure Target Position Pressure Input Digital Sensor 1 Pressure Input Digital Sensor 2 Control Mode General Control Setpoint Pressure Ramp Time
0x1601 (default) | FLOAT FLOAT FLOAT FLOAT SINT8 UINT16 FLOAT | Target Pressure Target Position Pressure Input Digital Sensor 1 Pressure Input Digital Sensor 2 Control Mode General Control Setpoint Pressure Ramp Time
0x1602 | SINT32 SINT32 SINT32 SINT32 SINT8 UINT16 | Target Pressure Target Position Pressure Input Digital Sensor 1 Pressure Input Digital Sensor 2 Control Mode General Control Setpoint
0x1603 | FLOAT FLOAT FLOAT FLOAT SINT8 UINT16 | Target Pressure Target Position Pressure Input Digital Sensor 1 Pressure Input Digital Sensor 2 Control Mode General Control Setpoint
0x1604 | SINT32 SINT8 UINT16 | Target Position Control Mode General Control Setpoint
0x1605 | FLOAT SINT8 UINT16 | Target Position Control Mode General Control Setpoint
0x16FF |  | Configurable mapping object
Name | Byte | Range | Description
--- | --- | --- | ---
TARGET PRESSURE | 4 | Value in mBar Adjustable 1) | Setpoint value for CONTROL MODE Pressure (5)
TARGET POSITION | 4 | 0..100 Adjustable 1) | Setpoint value for CONTROL MODE Position (2)
PRESSURE INPUT DIGITAL SENSOR 1 | 4 | Value in mBar Adjustable 1) | Pressure from digital sensor (Sensor with EtherCAT Interface)
PRESSURE INPUT DIGITAL SENSOR 2 | 4 | Value in mBar Adjustable 1) | Pressure from digital sensor (Sensor with EtherCAT Interface)
CONTROL MODE | 1 | 2…7 | 1 = Homing 2 = Position control 3 = Close 4 = Open 5 = Pressure control 6 = Hold 7 = Learn
GENERAL CONTROL SETPOINT | 2 | - | See bitmap table below
PRESSURE RAMP TIME | 1 | 0…10E6 | Time in ms
1)To adjust range refer to chapter: «EtherCAT scaling»

GENERAL CONTROL SETPOINT bitmap table:

Bit | Description
0 | ZERO ADJUST | Starts the zeroing of the sensors
1 | NOT USED (reserved) | -
2 | PING PONG TX BIT | Handshake mechanism Valve sends the inverted value of this bit in INPUT BUFFER à GENERAL STATUS à PING PONG RX BIT
3 | NOT USED (reserved) | -
4 | ACCESS MODE LOCKED | Defines which interface, remote (EtherCAT) or service (CPA), can control the valve.
Access Mode | Control Permission | Comment
Local | CPA |
Remote | EtherCAT Master | CPA can switch to Local
Locked | EtherCAT Master | CPA can’t switch to Local
If bit is set to 1 than the Access Mode = Locked It bit changes from 1 to 0 than the Access Mode changes to Remote Whether CPA has switched the Access Mode to Local can be seen in the Input Buffer: GENERAL STATUS à ACCESS MODE EXTENDED WARNING à REMOTE CONTROL NOT POSSIBLE Overview:
From | To | ACCESS MODE LOCKED bit
local or remote | locked | 0 à 1
locked | remote | 1 à 0
local | remote | 0 à 1 à 0
5-15 | NOT USED (reserved) | -

TxPDO Input mappings

The EtherCAT process data mapping is done automatically corresponding to the following list and respectively to the sync manager information.

Mapping object | Mapping content
0x1A00 | SINT32 SINT32 SINT32 SINT32 SINT8 UINT16 UINT16 UINT16 UINT32 | Actual Pressure Pressure Sensor 1 Pressure Sensor 2 Actual Position Control Mode Error Number General Status General Warnings Extended Warnings
0x1A01 (default) | FLOAT FLOAT FLOAT FLOAT SINT8 UINT16 UINT16 UINT16 UINT32 | Actual Pressure Pressure Sensor 1 Pressure Sensor 2 Actual Position Control Mode Error Number General Status General Warnings Extended Warnings
0x1A02 | SINT32 SINT8 UINT16 UINT16 UINT16 UINT32 | Actual Position Control Mode Error Number General Status General Warnings Extended Warnings
0x1A03 | FLOAT SINT8 UINT16 UINT16 UINT16 UINT32 | Actual Position Control Mode Error Number General Status General Warnings Extended Warnings
0x1AFF |  | Configurable mapping object
Name | Byte | Range | Description
--- | --- | --- | ---
ACTUAL PRESSURE | 4 | Value in mBar adjustable 1) |
PRESSURE SENSOR 1 | 4 | Value in mBar adjustable 1) |
PRESSURE SENSOR 2 | 4 | Value in mBar adjustable 1) |
ACTUAL POSITION | 4 | 0…100 adjustable 1) | Note: 0 do not mean that the valve is sealed (if sealing functionality is available). For this refer to the bit SEALING STATE in General Status.
CONTROL MODE | 1 | 0…14 | 0 = init 1 = homing 2 = position 3 = close 4 = open 5 = pressure 6 = hold 7 = learn 8 = interlock open 9 = interlock close 12 = power failure 13 = safety 14 = fatal error
ERROR NUMBER | 2 | 200…888 | Refer to chapter «Errors»
GENERAL STATUS | 2 |  | See bitmap table below
GENERAL WARNING | 2 |  | See bitmap table below
EXTENDED WARNING | 2 |  | See bitmap table below
1)To adjust range refer to chapter: «Scaling of pressure and position values»

GENERAL STATUS bitmap table:

Bit | Description
0 | FIELDBUS DATA VALID |
0 = | Valve is not in the EtherCAT state OPERATIONAL or the process data output watchdog. (SyncManager2) is disabled
1 = | Valve is in the EtherCAT state OPERATIONAL and the process data output watchdog (SyncManager2) is enabled
1 | ZERO ADJUST EXECUTED | ZERO ADJUST successful executed, active for 2 seconds
2 | PING PONG RX-BIT | Handshake mechanism Is the inverted PING PONG TX-BIT from OUTPUTBUFFER à GENERAL CONTROL SETPOINT
3 | PRESSURE SIMULATION | 1 = Internal pressure simulation active
4 | TARGET PRESSURE REACHED | 1 = The actual pressure is within 2% of the pressure setpoint
5-6 | NOT USED (reserved) | -
7-8 | ACCESS MODE |
bit 8 | bit 7 |
0 | 0 | = LOCAL
0 | 1 | = REMOTE
1 | 0 | = LOCKED
9 | WARNINGS ACTIVE | 1 = At least one WARNING of the warning bitmaps is active (GENERAL WARNING bitmap and EXTENDED WARNING bitmap)
10 | SEALING STATE | 1 = valve is sealed, only valid if a sealing functionality is available
11 | INTERLOCK ACTIVE | 1 = an interlock input is active
12-15 | NOT USED (reserved) | -

GENERAL WARNING bitmap table:

Bit | Description
0 | NOT USED (reserved) | -
1 | LEARN DATA SET | Learn data not present. Learn required for adaptive pressure control. Just active if adaptive pressure control algorithm is choosen.
2 | NOT USED (reserved) | -
3 | POWER FAILURE BATTERY | Not ready, voltage too low. Just active if power failure is available.
4-5 | NOT USED (reserved) | -
6 | FAN STALL ALARM | Just available when fan provides a stall alarm
47-15 | NOT USED (reserved) | -

EXTENDED WARNING bitmap table:

Bit | Description
0 | REMOTE CONTROL NOT POSSIBLE | Remote control not possible, access mode local is active, change to access mode remote or access mode locked
1 | ACTUAL CONTROL MODE SETPOINT NOT ALLOWED | Not possible to switch the actual control mode to CONTROL MODE SETPOINT •Control mode is interlock or fatal error •CONTROL MODE SETPOINT is 5 (pressure) or 7 (learn) and no sensor is selected (sensor mode configuration)
2 | ZERO DISABLED | Using zero function not possible
3 | PFO DEACTIVATED | Power Failure Option is deactivated
4 | NOT USED (reserved) | -
5 | OUT OF RANGE: PRESSURE SETPOINT | Value of PRESSURE SETPOINT is out of range
6 | OUT OF RANGE: POSITION SETPOINT | Value of POSITION SETPOINT is out of range
7-9 | NOT USED (reserved) | -
10 | OUT OF RANGE: CONTROL MODE SETPOINT | Value of CONTROL MODE SETPOINT is out of range
11 | OUT OF RANGE: GENERAL CONTROL SETPOINT | Value of GENERAL CONTROL SETPOINT is out of range
12-15 | NOT USED (reserved) | -

Ping Pong

With the Ping pong mechanism the master can verify that the slave has read the PDO buffer content sent by the master.

Principle:

Master sets the Ping pong bit in the object “General Control Setpoint”. When the slave receives the value of “General Control Setpoint”, the slave will invert this Ping pong bit and put it into ping pong of “General Status”

Example:

The master wants to have a confirmation that the slave has received a new value of “Target Position”:

1.Master sets “Target Position” to 123 and set Ping pong bit of “General Control Setpoint” to 0

2.Master waits till Ping pong bit of “General Status” has changed to 1 à This is the confirmation, that the PDO telegram with the new “Target Position” was received by the slave