Lenze 931K - Manual (Page 27)

CANopen over EtherCAT (CoE)
New communication objects
CANopen communication objects under CoE that are not supported
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27 KHB 13.0005−EN 1.0
8.2.3 CANopen communication objects under CoE that are not supported
When the 931K is connected under CANopen over EtherCAT, some CANopen objects are
not supported, which are available in the case of a direct connection of the 931K via
CANopen. These objects are listed in the following table:
Identifier Name Meaning
0x1008 Manufacturer Device Name
(String) Device name (not supported by 931K)
0x1009 Manufacturer Hardware
Version (String) HW version (not supported by 931K)
0x100A Manufacturer Software
Version (String) SW version (not supported by 931K)
0x6089 position_notation_index Specifies the number of decimal positions for displaying
position values in the control
0x608A position_dimension_index Specifies the unit for displaying position values in the control
0x608B velocity_notation_index Specifies the number of decimal positions for displaying speed
values in the control
0x608C velocity_dimension_index Specifies the unit for displaying speed values in the control
0x608D acceleration_notation_index Specifies the number of decimal positions for displaying
acceleration values in the control
0x608E acceleration_dimension_index Specifies the unit for displaying acceleration values in the
control
0x60C4 interpolated_data_
configuration Defines a data buffer for the position data in the interpolating
mode
)
Note!
Objects 0x6089 to 0x608E have no direct influence in the current CANopen
implementation for the 931K servo position controller. Therefore these objects
can be dispensed with in the EtherCAT CoE implementation.