Process Data is exchanged cyclically with the EtherCAT Master. Process Data Objects (PDO) are objects from the object dictionary mapped as process data. Therefore, the object dictionary must be configured before configuring the process data objects.
A PDO is an object filled with PDO entries. These entries are objects from the object dictionary which can be mapped as PDO. Therefore, there are few things to consider.
Therefore, it's not possible to map an object only with OBJACCESS_RXPDOMAPPING flag in a PDO with Index 0x1A00 to 0x1BFF and vice versa.
Create a RxPDO and map an entry from array object entry from CoE Examples to the PDO.
The EtherCAT SDK provides with a set of functions to access the process data. These help functions are available with the PDO suffix. For further information please refer to the documentation.
Function | Description |
---|---|
EC_API_SLV_PDO_get | Get object from PDO list |
EC_API_SLV_PDO_getOffset | Get PDO offset in process data |
EC_API_SLV_PDO_getLength | Get PDO length |
EC_API_SLV_getInputProcDataLength | Get input process data length |
EC_API_SLV_getOutputProcDataLength | Get output process data length |
EC_API_SLV_PDO_getEntryCount | Get PDO entry count |
EC_API_SLV_PDO_getEntryDataLength | Get entry data length |
EC_API_SLV_setInputData | Write input process data |
EC_API_SLV_getOutputData | Read output process data |
EC_API_SLV_PDO_setData | Set PDO data |
EC_API_SLV_PDO_getData | Get PDO data |
EC_API_SLV_PDO_setEntryData | Set PDO entry data |
EC_API_SLV_PDO_getEntryData | Get PDO entry data |
EC_API_SLV_PDO_setFixedMapping | Define if PDO entries adjustable or not |
EC_API_SLV_PDO_enable | Enable PDO from process data mapping |
EC_API_SLV_PDO_disable | Disable PDO from process data mapping |
EC_API_SLV_PDO_enabled | Check PDO status |
EC_API_SLV_PDO_setAssignment | Define if SyncManager content is adjustable or not |
EC_API_SLV_PDO_addPadding | Add padding to process data to avoid alignment issues |