Lenze 931K - Manual (Page 37)

CANopen over EtherCAT (CoE)
Adaptation of the device description file
Structure of the device description file
8
l
37 KHB 13.0005−EN 1.0
Important subnodes of the Descriptions node
Node designation Meaning Adaptable
RxPDO Fixed=... This node contains the PDO mapping and the assignment of the PDO
to the sync manager for receive PDOs Yes
TxPDO Fixed=... This node contains the PDO mapping and the assignment of the PDO
to the sync manager for transmit PDOs Yes
Mailbox Under this node commands can be defined which are transferred by
the master to the slave during the phase transition from
"Pre−operational to "Operational via SDO transfers. Yes
Since solely the nodes from the "Important subnodes of the Description node" table are
important to the user for adapting the device description file, they are described in detail
in the following chapters. The remaining contents of the device description file are fixed
and must not be changed by the user.
(
Stop!
If changes on contents and nodes other than the RxPDO, TxPDO and mailbox
nodes are carried out in the device description file, faultless operation of the
device can no longer be guaranteed.