How to Configure RevPi Gate for EtherCAT

To configure the gateway component, you have to perform the appropriate settings with the configuration software of your EtherCAT Master.

You can use the objects listed below to configure the gateway component.

 

IndexObject NameSub-indexDescriptionData TypeAccessRemark
1000 hDevice Type00 hDevice TypesU32RO0000 0000h (No profile)
1001 hError Register00 hError RegisterU8RO
1008 hManufacturer device name00 hDevice nameVisible stringRO“KUNBUS Gateway EtherCAT”
1009 hManufacturer hardware version00 hHardware VersionVisible stringRO“R01”
100AhManufacturer software version00 hSoftware versionVisible stringRO“majorRevNo”.

“minorRevNo”.

“SVNRevNo”

1010 hStore Parameters00 hNumber of entriesU8RO
01 hStore all parametersU32RWWrite the value “0x65766173” in this index to save all parameters
1011 hRestore parameters00 hNumber of entriesU8RO
01 hRestore default parametersU32RWWrite the value “0x64616f6c” in this index to restore all parameters.
1018 hIdentity object00 hNumber of entriesU8RO04 h
01 hManufacturer NumberU32RO
02 hProduct codeU32RO
03 hRevision numberU32RO
04 hSerial numberU32RO
1600 h

1603 h

Receive PDO mapping00 hNumber of assigned objectsU8RWA mapping can consist of up to 128 assigned objects. It must not be greater than 128 bytes.
01 hAssigned object #1U32RW
02 hAssigned object #2U32RW
03 hAssigned object #3U32RW
04 hAssigned object #4U32RW
05 hAssigned object #5U32RW
06 hAssigned object #6U32RW
U32RW
80 hAssigned object #128U32RW
1A00h

1A03h

Transmit PDO mapping00 hNumber of assigned objectsU8RWA mapping can consist of up to 128 assigned objects. It must not be greater than 128 bytes.
01 hAssigned object #1U32RW
02 hAssigned object #2U32RW
03 hAssigned object #3U32RW
04 hAssigned object #4U32RW
05 hAssigned object #5U32RW
06 hAssigned object #6U32RW
U32RW
80 hAssigned object #128U32RW
1C00hSyncManager Types00 hNumber of entriesU8ROValue: 4
01 hMailbox OutU8RWValue: 0x01
02 hMailbox InU8RWValue: 0x02
03 hOutputsU8RWValue: 0x03
04 hInputsU8RWValue: 0x04
1C12hSyncManager 3 (Rx PDOs)00 hNumber of entriesU8RWRx PDO transmission
01 hU16RW
02 hU16RW
03 hU16RW
04 hU16RW
1C13hSyncManager 4 (Tx PDOs)00 hNumber of entriesU8RWTx PDO transmission
01 hU16RW
02 hU16RW
03 hU16RW
04 hU16RW

EtherCAT In/Outputs

The output data (512 bytes) can be accessed byte-wise, word-wise and double word-wise.

The same data area is accessed here.

Example: 2000h:01h to 2000h:04h maps the same data as 2010h:01h until 2010h:02h and the same data as 2020h:01h

Notice! RevPi Gate only transfers fieldbus data to the RevPi Device if it is in “Operational” EtherCAT status. Otherwise, “zeros” are transmitted to the partner gateway component.

Fieldbus Output Data (Master Direction)

 

IndexObject NameSub-indexDescriptionData typeAccessAccess type
2000 hOutput Buffer00 hNumber of entriesU8ROByte
01 hOutput Buffer
Byte #0
U8RO
02 hOutput Buffer
Byte #1
80 hOutput Buffer
Byte #127
2001 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Byte #128
U8RO
02 hOutput Buffer
Byte #129
80 hOutput Buffer
Byte #255
2002 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Byte #256
U8RO
02 hOutput Buffer
Byte #257
80 hOutput Buffer
Byte #383
2003 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Byte #384
U8RO
02 hOutput Buffer
Byte #385
80 hOutput Buffer
Byte #511
2010 hOutput Buffer00 hNumber of entriesU8ROWord
01 hOutput Buffer
Word #0
U16RO
02 hOutput Buffer
Word #1
40 hOutput Buffer
Word #63
2011 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Word #64
U16RO
02 hOutput Buffer
Word #65
40 hOutput Buffer
Word #127
2012 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Word #128
U16RO
02 hOutput Buffer
Word #129
40 hOutput Buffer
Word #191
2013 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Word #192
U16RO
02 hOutput Buffer
Word #193
40 hOutput Buffer
Word #255
2020 hOutput Buffer00 hNumber of entriesU8RODouble word
01 hOutput Buffer
Double Word #0
U32RO
02 hOutput Buffer
Double Word #1
20 hOutput Buffer
Double Word #31
2021 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Double Word #32
U32RO
02 hOutput Buffer
Double Word #33
20 hOutput Buffer
Double Word #63
2022 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Double Word #64
U32RO
02 hOutput Buffer
Double Word #65
20 hOutput Buffer
Double Word #95
2023 hOutput Buffer00 hNumber of entriesU8RO
01 hOutput Buffer
Double Word #96
U32RO
02 hOutput Buffer
Double Word #97
20 hOutput Buffer
Double Word #127

 

Fieldbus input data (from the master)

 

IndexObject NameSub-indexDescriptionData typeAccessAccess type
2100 hInput Buffer00 hNumber of entriesU8RWByte
01 hInput Buffer
Byte #0
U8RW
02 hInput Buffer
Byte #1
80 hInput Buffer
Byte #127
2101 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Byte #128
U8RW
02 hInput Buffer
Byte #129
80 hInput Buffer
Byte #255
2102 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Byte #256
U8RW
02 hInput Buffer
Byte #257
80 hInput Buffer
Byte #383
2103 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Byte #384
U8RW
02 hInput Buffer
Byte #385
80 hInput Buffer
Byte #511
2110 hInput Buffer00 hNumber of entriesU8RWWord
01 hInput Buffer
Word #0
U16RW
02 hInput Buffer
Word #1
40 hInput Buffer
Word #63
2111 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Word #64
U16RW
02 hInput Buffer
Word #65
40 hInput Buffer
Word #127
2112 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Word #128
U16RW
02 hInput Buffer
Word #129
40 hInput Buffer
Word #191
2113 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Word #192
U16RW
02 hInput Buffer
Word #193
40 hInput Buffer
Word #255
2120 hInput Buffer00 hNumber of entriesU8RWDouble word
01 hInput Buffer
Double Word #0
U32RW
02 hInput Buffer
Double Word #1
20 hInput Buffer
Double Word #31
2121 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Double Word #32
U32RW
02 hInput Buffer
Double Word #33
20 hInput Buffer
Double Word #63
2122 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Double Word #64
U32RW
02 hInput Buffer
Double Word #65
20 hInput Buffer
Double Word #95
2123 hInput Buffer00 hNumber of entriesU8RW
01 hInput Buffer
Double Word #96
U32RW
02 hInput Buffer
Double Word #97
20 hInput Buffer
Double Word #127

Check status

You can poll the status of the other gateway component by SDO entry in the OBD.

IndexObject NameSub-indexDescriptionData typeAccessRemark
0x2200Status of the partner gateway component00 hNumber of entriesU8RO
01 hLength of the input dataROmax. 512 bytes
02 hLength of the output dataU16ROmax. 512 bytes
03 hModule TypeU16RO74
(EtherCAT Gateway Component)
04 hFieldbus StatusU8RO0x00Fieldbus not connected. Check all connections
0x01Fieldbus connected, no data communication.
0x02Gateway component configured, no data communication
0x03Cyclical data exchange