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.

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
1010 h	Store Parameters	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
1011 h	Restore parameters	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