3 implemented coe objects, Implemented coe objects, 9parameter data transfer – Lenze E84AYCET EtherCAT MCI module User Manual
Page 79
Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
79
9
Parameter data transfer
9.3
Implemented CoE objects
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
9.3
Implemented CoE objects
Lenze devices can be parameterised with both Lenze codes and the manufacturer-independent "CoE
objects". In order to fully comply with EtherCAT communication, you must only use the CoE objects
for parameterisation. The CoE objects described in this manual are defined in the "EtherCAT
Specification, Part 6 – Application Layer Protocol Specification".
R: Read access only
RW: Read and write access
Index
Designation
Subindex Subindex name
Type
Bits
Access
0x1000
Device type
-
-
UDINT
32
R
0x1008
Device name
-
-
STRING(8)
64
R
0x1009
Hardware version
-
-
STRING(8)
64
R
0x100A
Software version
-
-
STRING(7)
56
R
0x1018
Identity
0
Subindex 000
USINT
8
R
1
Vendor ID
UDINT
32
R
2
Product code
UDINT
32
R
3
Revision number
UDINT
32
R
4
Serial number
UDINT
32
R
0x10F1
Error Settings Object
0
Subindex 000
USINT
8
R
1
Local Error Reaction
USINT
8
R
2
Sync Error Counter Limit
USINT
8
RW
0x1600
RxPDO 1
0
Subindex 000
USINT
8
RW
1 … 16
Output Object 1 … 16
UDINT
32
RW
0x1A00
TxPDO 1
0
Subindex 000
USINT
8
RW
1 … 16
Input Object 1 … 16
UDINT
32
RW
0x1C00
Sync Man Communication type
0
Subindex 000
USINT
8
R
1
Elements
UDINT
32
R
0x1C12
Sync Man 2 Assignment
0
Subindex 000
USINT
8
R
1
PDO Mapping object index of
assigned RxPDO
UDINT
32
R
0x1C13
Sync Man 3 Assignment
0
Subindex 000
USINT
8
R
1
PDO Mapping object index of
assigned TxPDO
UDINT
32
R
0x1C32
Sync Man 2 Synchronization
0
Subindex 000
USINT
8
R
1
Synchronization type
UINT
16
R
2
Cycle time / ns
UDINT
32
R
3
Shift time / ns
UDINT
32
R
4
Sync types supported
UINT
16
R
5
Minimum cycle time / ns
UDINT
32
R
6
Minimum shift time / ns
UDINT
32
R
0x1C33
Sync Man 3 Synchronization
0
Subindex 000
USINT
8
R
1
Synchronization type
UINT
16
R
2
Cycle time / ns
UDINT
32
R
3
Shift time / ns
UDINT
32
R
4
Sync types supported
UINT
16
R
5
Minimum cycle time / ns
UDINT
32
R
6
Minimum shift time / ns
UDINT
32
R