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SM-EtherCAT User Guide 19
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting Started
Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
6 Protocols
6.1 CANopen over EtherCAT (CoE)
The CoE protocol over EtherCAT uses a modified form of the CANopen object
dictionary. This is specified in
Table 6.1:
The object description format describes object related information such as size, range
and descriptions and is detailed in
Table 6.2:
For entries having sub-indices:
Table 6.1 CoE object dictionary
Index Object dictionary area
0x0000 to 0x0FFF Data type area
0x1000 to 0x1FFF CoE communication area
0x2000 to 0x5FFF Manufacturer specific area
0x6000 to 0x9FFF Profile area
0xA000 to 0xFFFF Reserved area
Table 6.2 Object description format
<index> <object name>
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
Table 6.3 Object description format with sub-indices
<index> <object name>
Sub-index 0
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
Sub-index 1
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
...
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
Sub-index n-1
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>
Sub-index n
Access: <access> Range: <range> Size: <size> Unit: <unit>
Default: <default>
Description: <description>