12.2 EtherCAT State Machine
12-4
•
Sync Manager Settings
*
This is the size and first address for a SERVOPACK with a revision number (object 1018 hex: 03 hex) of
0x00020000 or lower. This setting can also be used with a revision number (object 1018 hex: 03 hex) of
0x00030001 or higher.
•
FMMU Settings
1. The SERVOPACK does not support EtherCAT Read/Write commands (APRW, FPRW, BRW, and LRW).
2. For SDO and PDO communications through the EtherCAT data link layer, the FMMUs and Sync Managers must
be set as follows:
Sync Manager
Assignment (Fixed)
Size
Start Address (Fixed)
Sync Manager 0
Assigned to Receive Mailbox
128 bytes (fixed)
0x1000
Sync Manager 1
Assigned to Transmit Mailbox
128 bytes (fixed)
0x1080
Sync Manager 2
Assigned to Receive PDOs
0 to 256 bytes (0 to
200 bytes
*
)
0x1100
Sync Manager 3
Assigned to Transmit PDOs
0 to 256 bytes (0 to
200 bytes
*
)
0x1400
(0x1358
*
)
FMMU
Setting
FMMU 0
Mapped in receive PDO (RxPDO) area.
FMMU 1
Mapped in transmit PDO (TxPDO) area.
FMMU 2
Mapped to the mailbox status.
Information
