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.
| Index | Object Name | Sub-index | Description | Data Type | Access | Remark |
| 1000 h | Device Type | 00 h | Device Types | U32 | RO | 0000 0000h (No profile) |
| 1001 h | Error Register | 00 h | Error Register | U8 | RO | |
| 1008 h | Manufacturer device name | 00 h | Device name | Visible string | RO | “KUNBUS Gateway EtherCAT” |
| 1009 h | Manufacturer hardware version | 00 h | Hardware Version | Visible string | RO | “R01” |
| 100Ah | Manufacturer software version | 00 h | Software version | Visible string | RO | “majorRevNo”.
“minorRevNo”. “SVNRevNo” |
| 1010 h | Store Parameters | 00 h | Number of entries | U8 | RO | |
| 01 h | Store all parameters | U32 | RW | Write the value “0x65766173” in this index to save all parameters | ||
| 1011 h | Restore parameters | 00 h | Number of entries | U8 | RO | |
| 01 h | Restore default parameters | U32 | RW | Write the value “0x64616f6c” in this index to restore all parameters. | ||
| 1018 h | Identity object | 00 h | Number of entries | U8 | RO | 04 h |
| 01 h | Manufacturer Number | U32 | RO | |||
| 02 h | Product code | U32 | RO | |||
| 03 h | Revision number | U32 | RO | |||
| 04 h | Serial number | U32 | RO | |||
| 1600 h
… 1603 h |
Receive PDO mapping | 00 h | Number of assigned objects | U8 | RW | A mapping can consist of up to 128 assigned objects. It must not be greater than 128 bytes. |
| 01 h | Assigned object #1 | U32 | RW | |||
| 02 h | Assigned object #2 | U32 | RW | |||
| 03 h | Assigned object #3 | U32 | RW | |||
| 04 h | Assigned object #4 | U32 | RW | |||
| 05 h | Assigned object #5 | U32 | RW | |||
| 06 h | Assigned object #6 | U32 | RW | |||
| … | … | U32 | RW | |||
| 80 h | Assigned object #128 | U32 | RW | |||
| 1A00h
… 1A03h |
Transmit PDO mapping | 00 h | Number of assigned objects | U8 | RW | A mapping can consist of up to 128 assigned objects. It must not be greater than 128 bytes. |
| 01 h | Assigned object #1 | U32 | RW | |||
| 02 h | Assigned object #2 | U32 | RW | |||
| 03 h | Assigned object #3 | U32 | RW | |||
| 04 h | Assigned object #4 | U32 | RW | |||
| 05 h | Assigned object #5 | U32 | RW | |||
| 06 h | Assigned object #6 | U32 | RW | |||
| … | … | U32 | RW | |||
| 80 h | Assigned object #128 | U32 | RW | |||
| 1C00h | SyncManager Types | 00 h | Number of entries | U8 | RO | Value: 4 |
| 01 h | Mailbox Out | U8 | RW | Value: 0x01 | ||
| 02 h | Mailbox In | U8 | RW | Value: 0x02 | ||
| 03 h | Outputs | U8 | RW | Value: 0x03 | ||
| 04 h | Inputs | U8 | RW | Value: 0x04 | ||
| 1C12h | SyncManager 3 (Rx PDOs) | 00 h | Number of entries | U8 | RW | Rx PDO transmission |
| 01 h | U16 | RW | ||||
| 02 h | U16 | RW | ||||
| 03 h | U16 | RW | ||||
| 04 h | U16 | RW | ||||
| 1C13h | SyncManager 4 (Tx PDOs) | 00 h | Number of entries | U8 | RW | Tx PDO transmission |
| 01 h | U16 | RW | ||||
| 02 h | U16 | RW | ||||
| 03 h | U16 | RW | ||||
| 04 h | U16 | RW |
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)
| Index | Object Name | Sub-index | Description | Data type | Access | Access type |
| 2000 h | Output Buffer | 00 h | Number of entries | U8 | RO | Byte |
| 01 h | Output Buffer Byte #0 |
U8 | RO | |||
| 02 h | Output Buffer Byte #1 |
|||||
| … | … | |||||
| 80 h | Output Buffer Byte #127 |
|||||
| 2001 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Byte #128 |
U8 | RO | |||
| 02 h | Output Buffer Byte #129 |
|||||
| … | … | |||||
| 80 h | Output Buffer Byte #255 |
|||||
| 2002 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Byte #256 |
U8 | RO | |||
| 02 h | Output Buffer Byte #257 |
|||||
| … | … | |||||
| 80 h | Output Buffer Byte #383 |
|||||
| 2003 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Byte #384 |
U8 | RO | |||
| 02 h | Output Buffer Byte #385 |
|||||
| … | … | |||||
| 80 h | Output Buffer Byte #511 |
|||||
| 2010 h | Output Buffer | 00 h | Number of entries | U8 | RO | Word |
| 01 h | Output Buffer Word #0 |
U16 | RO | |||
| 02 h | Output Buffer Word #1 |
|||||
| … | … | |||||
| 40 h | Output Buffer Word #63 |
|||||
| 2011 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Word #64 |
U16 | RO | |||
| 02 h | Output Buffer Word #65 |
|||||
| … | … | |||||
| 40 h | Output Buffer Word #127 |
|||||
| 2012 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Word #128 |
U16 | RO | |||
| 02 h | Output Buffer Word #129 |
|||||
| … | … | |||||
| 40 h | Output Buffer Word #191 |
|||||
| 2013 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Word #192 |
U16 | RO | |||
| 02 h | Output Buffer Word #193 |
|||||
| … | … | |||||
| 40 h | Output Buffer Word #255 |
|||||
| 2020 h | Output Buffer | 00 h | Number of entries | U8 | RO | Double word |
| 01 h | Output Buffer Double Word #0 |
U32 | RO | |||
| 02 h | Output Buffer Double Word #1 |
|||||
| … | … | |||||
| 20 h | Output Buffer Double Word #31 |
|||||
| 2021 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Double Word #32 |
U32 | RO | |||
| 02 h | Output Buffer Double Word #33 |
|||||
| … | … | |||||
| 20 h | Output Buffer Double Word #63 |
|||||
| 2022 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Double Word #64 |
U32 | RO | |||
| 02 h | Output Buffer Double Word #65 |
|||||
| … | … | |||||
| 20 h | Output Buffer Double Word #95 |
|||||
| 2023 h | Output Buffer | 00 h | Number of entries | U8 | RO | |
| 01 h | Output Buffer Double Word #96 |
U32 | RO | |||
| 02 h | Output Buffer Double Word #97 |
|||||
| … | … | |||||
| 20 h | Output Buffer Double Word #127 |
Fieldbus input data (from the master)
| Index | Object Name | Sub-index | Description | Data type | Access | Access type |
| 2100 h | Input Buffer | 00 h | Number of entries | U8 | RW | Byte |
| 01 h | Input Buffer Byte #0 |
U8 | RW | |||
| 02 h | Input Buffer Byte #1 |
|||||
| … | … | |||||
| 80 h | Input Buffer Byte #127 |
|||||
| 2101 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Byte #128 |
U8 | RW | |||
| 02 h | Input Buffer Byte #129 |
|||||
| … | … | |||||
| 80 h | Input Buffer Byte #255 |
|||||
| 2102 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Byte #256 |
U8 | RW | |||
| 02 h | Input Buffer Byte #257 |
|||||
| … | … | |||||
| 80 h | Input Buffer Byte #383 |
|||||
| 2103 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Byte #384 |
U8 | RW | |||
| 02 h | Input Buffer Byte #385 |
|||||
| … | … | |||||
| 80 h | Input Buffer Byte #511 |
|||||
| 2110 h | Input Buffer | 00 h | Number of entries | U8 | RW | Word |
| 01 h | Input Buffer Word #0 |
U16 | RW | |||
| 02 h | Input Buffer Word #1 |
|||||
| … | … | |||||
| 40 h | Input Buffer Word #63 |
|||||
| 2111 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Word #64 |
U16 | RW | |||
| 02 h | Input Buffer Word #65 |
|||||
| … | … | |||||
| 40 h | Input Buffer Word #127 |
|||||
| 2112 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Word #128 |
U16 | RW | |||
| 02 h | Input Buffer Word #129 |
|||||
| … | … | |||||
| 40 h | Input Buffer Word #191 |
|||||
| 2113 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Word #192 |
U16 | RW | |||
| 02 h | Input Buffer Word #193 |
|||||
| … | … | |||||
| 40 h | Input Buffer Word #255 |
|||||
| 2120 h | Input Buffer | 00 h | Number of entries | U8 | RW | Double word |
| 01 h | Input Buffer Double Word #0 |
U32 | RW | |||
| 02 h | Input Buffer Double Word #1 |
|||||
| … | … | |||||
| 20 h | Input Buffer Double Word #31 |
|||||
| 2121 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Double Word #32 |
U32 | RW | |||
| 02 h | Input Buffer Double Word #33 |
|||||
| … | … | |||||
| 20 h | Input Buffer Double Word #63 |
|||||
| 2122 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Double Word #64 |
U32 | RW | |||
| 02 h | Input Buffer Double Word #65 |
|||||
| … | … | |||||
| 20 h | Input Buffer Double Word #95 |
|||||
| 2123 h | Input Buffer | 00 h | Number of entries | U8 | RW | |
| 01 h | Input Buffer Double Word #96 |
U32 | RW | |||
| 02 h | Input Buffer Double Word #97 |
|||||
| … | … | |||||
| 20 h | Input Buffer Double Word #127 |
Check status
You can poll the status of the other gateway component by SDO entry in the OBD.
| Index | Object Name | Sub-index | Description | Data type | Access | Remark | |
| 0x2200 | Status of the partner gateway component | 00 h | Number of entries | U8 | RO | ||
| 01 h | Length of the input data | RO | max. 512 bytes | ||||
| 02 h | Length of the output data | U16 | RO | max. 512 bytes | |||
| 03 h | Module Type | U16 | RO | 74 (EtherCAT Gateway Component) |
|||
| 04 h | Fieldbus Status | U8 | RO | 0x00 | Fieldbus not connected. Check all connections | ||
| 0x01 | Fieldbus connected, no data communication. | ||||||
| 0x02 | Gateway component configured, no data communication | ||||||
| 0x03 | Cyclical data exchange | ||||||