Lenze 931K - Manual (Page 32)

CANopen over EtherCAT (CoE)
Process data transfer
Differences in the state machine under CANopen and EtherCAT
8
l
32 KHB 13.0005−EN 1.0
8.5 Process data transfer
The Process Data Objects (PDO) serve to the cyclic transmission of setpoint and actual
value data between the master and the slave. They have to be configured by the master
before the slave is operated in the "Pre−operational state. Afterwards they are transferred
to PDO frames. These PDO frames have the following structure.
Structure of an EtherCAT PDO frame
Process Data (Standard CANopen PDO frame) Process Data (optional)
1 8 bytes 1 ... n bytes
PDO frame area Description
Process Data Data contents of the PDO (Process Data Object)
Process Data (optional) Further optional data contents of further PDOs (Process Data Object)
In order to transfer a PDO via the EtherCAT CoE protocol, the transmit and receive PDOs
additionally to the PDO configuration (PDO mapping) have to be assigned to a
transmission channel of the sync manager. The data exchange of PDOs for the 931K servo
position controller exclusively takes place via the EtherCAT process data telegram protocol.
)
Note!
The transmission of CANopen process data (PDOs) via acyclic communication
(mailbox telegram protocol) is not supported by the 931K servo position
controller.
Since within the 931K servo position controller all the data exchanged via the EtherCAT
CoE protocol are directly transferred to the internal CANopen implementation, the PDO
mapping is also carried out as described in the 931E/K CANopen manual.
Index
1ZZZh
1ZZZh
1ZZZh
6ZZZh
6XXXh
6YYYh
01h
02h
03h
ZZh
XXh
YYh
Sub Object contents
Object Dictionary
PDO_1
PDO-Length: 32 Bit
Mapping
Object
Application
Object
Object A
Object B
Object B
Object C
Object D
Object E
Object F
Object G
6TTTh TTh
6TTTh TTh
8
32
16
8
6UUUh UUh
6UUUh
6VVVh
6WWWh
UUh
VVh
WWh
6WWWh WWh
Object A Object D
931K_004
The simple transfer of the data received via CoE to the CANopen protocol implemented in