Entry

See also

Skill Data Points in the Xentara user manual

Description

The Xentara Entry object adheres to the EtherCAT ESI specification EntryType. This object represents a PDO Mapping Entry and follows the same naming convention as CANopen.

Sync Manager

The standard SyncManager (SM) configuration is

• 1 SM per acyclic data output (mailbox out, master to slave)
• 1 SM for acyclic data input (mailbox in, slave to master)
• 1 SM for cyclic data output (process data out, master to slave)
• 1 SM for cyclic data input (process data in, slave to master)

	Sync Manager
SM0	Output Mailbox
SM1	Input Mailbox
SM2	Outputs
SM3	Inputs

Index

The index list is structured in different areas as seen in the table below:

Object Index Range	Reserved for	Comment
0x0000 - 0x0FFF	Data Type Area	Protected registers for ESC configuration
0x1000 - 0x1FFF	Communication Area	Communication parameters, settings, etc.
0x2000 - 0x5FFF	Manufacturer specific Area
0x6000 - 0x6FFF	Input Area	Process data input objects (mapped to TxPDO)
0x7000 - 0x7FFF	Output Area	Process data output objects (mapped to RxPDO)
0x8000 - 0x8FFF	Configuration Area	Process data configuration and settings objects
0x9000 - 0x9FFF	Information Area	Scanned information from modules
0xA000 - 0xAFFF	Diagnosis Area	Diagnostic, status, statistic or other information
0xB000 - 0xBFFF	Service Transfer Area	Service objects
0xC000 - 0xEFFF	Reserved Area
0xF000 - 0xFFFF	Device Area	Parameters belonging to the device

SubIndex

The index of each entry can have up to 255 subindexes.

Data Types

The Xentara EtherCAT plugin supports the following data types:

Name	Description	Bit Size
BOOLEAN	0: FALSE, 1: TRUE	1
BIT1		1
BIT2		2
BIT3		3
BIT4		4
BIT5		5
BIT6		6
BIT7		7
BIT8		8
BYTE	Unsigned Byte	8
INTEGER8	Short Integer	8
INTEGER16	Integer	16
INTEGER24		24
INTEGER32	Double Integer	32
INTEGER40		40
INTEGER48		48
INTEGER56		56
INTEGER64	Long Integer	64
UNSIGNED8	Unsigned Short Integer	8
UNSIGNED16	Unsigned Integer I Word	16
UNSIGNED24		24
UNSIGNED32	Unsigned Double Integer	32
UNSIGNED40		40
UNSIGNED48		48
UNSIGNED56		56
UNSIGNED64		64
REAL32	Floating point	32
REAL64	Long Float	64

IO Map

The quickest method for gaining access to device IO data is IO map. The IO mapping is carried out by attempting to group all of the devices' outputs together, followed by inputs. Additionally, single bytes are used to group bit-oriented slaves. The syntax of the buffer address of Entry begins with 0x and is followed by the IOmap's byte hex address. Following the byte is a "." and the position of the bit.

For example, 0x0001.4 denotes byte number 1 and bit number 4.

Accessing Entry

See also

Accessing Xentara Elements in the Xentara user manual

In addition to the standard members of Xentara skill data points, Entry have the following attributes:

Attributes

index	The index of the entry data in the device.
subIndex	The sub index of the entry data in the device.
dataType	The dataType of the entry data in the device.
changeTime	The last time the value of the entry data in the device was changed.
writeTime	The last time the device's entry data value was written. It is only valid if it is RxPDO (Output).

The entry also provide access to the bus's attributes, device's attributes and module's attributes.