Lenze 931K - Manual (Page 36)

CANopen over EtherCAT (CoE)
Adaptation of the device description file
Structure of the device description file
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8.8 Adaptation of the device description file
Under EtherCAT each device is described by means of a device description file. This file can
be used for a simple connection of the EtherCAT devices to an EtherCAT control. This file
contains the complete parameter setting of the slave, including the parameter setting of
the sync manager and of the PDOs. Therefore the configuration of the slave can be
changed via this file.
For the 931K servo position controller Lenze has created such a device description file. It can
be downloaded from the Lenze homepage. In order to enable the user to adapt this file to
his or her application, its contents are described in greater detail here.
8.8.1 Structure of the device description file
The EtherCAT device description file is created in the XML format. This format provides the
advantage that it can be read and edited using a standard text editor. An XML file always
has a tree structure within which individual branches are defined by nodes. These nodes
have a starting and an end mark. A node can contain an optional number of subnodes.
The device description file for the 931K servo position controller under EtherCAT CoE is
divided into the following subnodes:
Main nodes of the device description file
Node designation Meaning Adaptable
Vendor This node contains the manufacturer’s name and ID of the device
which this description file belongs to. Additionally the binary code of a
bitmap with the manufacturer’s logo is included. No
Descriptions This subnode contains the actual device description including the
configuration and initialisation. To some extent
Subnodes of the Descriptions node
Node designation Meaning Adaptable
Groups This node contains the allocation of the device to a device group. These
groups are defined and must not be changed by the user. No
Devices This subnode contains the actual description of the device. To some extent
The following table solely describes the subnodes of the Descriptions node which are
required for the parameterisation of the 931K servo position controller under CoE. All other
nodes are fixed and must not be changed by the user.