Lenze 931K - Manual (Page 22)

CANopen over EtherCAT (CoE)
New communication objects
New and changed CANopen communication objects under CoE
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22 KHB 13.0005−EN 1.0
Object 0x1100 − EtherCAT fixed station address
Via this object a definite address is assigned to the slave during the initialisation phase.
The object has the following meaning:
EtherCAT fixed station address
Index 0x1100
Name EtherCAT fixed station address
Object code VAR
Data type UINT16
EtherCAT fixed station address
Access RO
PDO Mapping no
Value Range 0
Default Value 0
Object 0x1C00 − Sync Manager Communication Type
Via this object the transfer type for the different channels of the EtherCAT sync manager
can be read out. Since the 931K only supports the first four sync channels under the
EtherCAT CoE protocol, the following objects can only be read.
Therefore the configuration of the sync manager is fixedly configured for the 931K. The
objects have the following meaning:
Sync Manager Communication Type
Index 0x1C00
Name Sync Manager Communication Type
Object code Array
Data type UINT8
Sync Manager Communication Type
Subindex 0
Description Number of used Sync Manager Channels
Access ro
PDO Mapping no
Value Range 4
Default Value 4
Sync Manager Communication Type
Subindex 1
Description Communication Type Sync Channel 0
Access ro
PDO Mapping no
Value Range 1: Mailbox Receive (Master ® Slave)
Default Value 1: Mailbox Receive (Master ® Slave)