Lenze EtherCAT Controller-based Automation - Manual (Page 115)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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9 Function library L_IODrvEtherCAT.lib
9.2 CoE Interface
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9.2 CoE Interface
The function blocks of the "CoE interface" (CAN over EtherCAT) allow objects on the EtherCAT
master and the EtherCAT slaves to be read and written.
The SDO read and write services are performed serially in the case of EtherCAT. In the Lenze R3.x
control technology (Controller-based Automation), a maximum of 100 services can be temporarily
stored for processing. If no more services can be accepted because the temporary storage buffer is
full, the value '7' is sent back as the error code.
9.2.1 Reading and writing parameters
Parameters ...
• for instance are set for one-time system settings or if materials are changed within a machine;
• are transmitted with a low priority.
In the case of Lenze inverters, the parameters to be changed are contained in codes or in the case of
the CANopen device profile "CiA402" as device profile objects.
Indexing of the Lenze codes
When they are accessed, the codes of the Lenze Controllers are addressed by the index.
The index for Lenze code numbers is in the manufacturer-specific area of the object directory
between 8192 (0x2000) and 24575 (0x5FFF).
Structure of a mailbox datagram
In a datagram, mailbox data are transferred within an EtherCAT frame. The data area of the mailbox
datagram has the following structure:
Conversion formula
Index [dec]
Index [hex]
24575 - Lenze code 0x5FFF - Lenze code [hex]
Example for C00002 (device commands)
Index [dec]
Index [hex]
24575 - 2 = 24573 0x5FFF - 2 = 0x5FFD
Mailbox
header
CoE
header
SDO control
byte
Index Subindex Data Data
6 bytes 2 bytes 1 byte 2 bytes 1 byte 4 bytes 1 ... n bytes