Canopen over ethercat (coe) – Lenze 931K User Manual
Page 21

CANopen over EtherCAT (CoE)
New communication objects
New and changed CANopen communication objects under CoE
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KHB 13.0005−EN 1.0
8.2.2
New and changed CANopen communication objects under CoE
The following table provides an overview of the indexes and subindexes used for the
CANopen−compatible communication objects which have been added for the EtherCAT
fieldbus system in the range of 0x1000h to 0x1FFFh. They mainly replace the
communication parameters in accordance with the CiA standard DS301.
Identifier
Name
Meaning
0x1000
Device type
Identifier of the device control
0x1018
Identity Object
Vendor ID, product code, revision serial number
0x1100
EtherCAT fixed station address Fixed address that is assigned to the slave by the master during
the initialisation
0x1600
1. RxPDO Mapping
Identifier of the 1. receive PDO
0x1601
2. RxPDO Mapping
Identifier of the 2. receive PDO
0x1A00
1. TxPDO mapping
Identifier of the 1. transmit PDO
0x1A01
2. TxPDO mapping
Identifier of the 2. transmit PDO
0x1C00
Sync Manager Communication
type
Object for the configuration of the individual sync channels
(SDO or PDO transfer)
0x1C10
Sync Manager PDO Mapping
for Sync channel 0
Assignment of sync channel 0 to a PDO/SDO
(Channel 0 is always reserved for the mailbox receive SDO
transfer)
0x1C11
Sync Manager PDO Mapping
for Sync channel 1
Assignment of sync channel 1 to a PDO/SDO
(Channel 1 is always reserved for the mailbox transmit SDO
transfer)
0x1C12
Sync Manager PDO Mapping
for Sync channel 2
Assignment of sync channel 2 to a PDO (Channel 2 is reserved
for receive PDOs)
0x1C13
Sync Manager PDO Mapping
for Sync channel 3
Assignment of sync channel 3 to a PDO (Channel 3 is reserved
for transmit PDOs)
In the following chapters the objects 0x1C00 and 0x1C10 to 0x1C13 are specified, since
they are only defined and implemented under the EtherCAT CoE protocol and thus cannot
be found in the CANopen manual.
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Note!
ƒ
The 931K servo position controller with the EtherCAT technology module
supports two receive PDOs (RxPDO) and two transmit PDOs (TxPDO).
ƒ
The objects 0x1008, 0x1009, and 0x100A are not supported by the 931K
since plain text strings cannot be read by the servo position controller.