6 protocols, 1 canopen over ethercat (coe), Protocols – Emerson SM-ETHERCAT 0471-0128-02 User Manual
Page 19: Canopen over ethercat (coe), Toco, Roto, Col s, Oto cols, 6protocols, Sm-ethercat user guide
SM-EtherCAT User Guide
19
Issue Number: 2
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6
Protocols
6.1
CANopen over EtherCAT (CoE)
The CoE protocol over EtherCAT uses a modified form of the CANopen object
dictionary. This is specified in Table 6.1:
The object description format describes object related information such as size, range
and descriptions and is detailed in Table 6.2:
For entries having sub-indices:
Table 6.1 CoE object dictionary
Index
Object dictionary area
0x0000 to 0x0FFF
Data type area
0x1000 to 0x1FFF
CoE communication area
0x2000 to 0x5FFF
Manufacturer specific area
0x6000 to 0x9FFF
Profile area
0xA000 to 0xFFFF
Reserved area
Table 6.2 Object description format
Access:
Range:
Size:
Unit:
Default:
Description:
Table 6.3 Object description format with sub-indices
Sub-index 0
Access:
Range:
Size:
Unit:
Default:
Description:
Sub-index 1
Access:
Range:
Size:
Unit:
Default:
Description:
...
Access:
Range:
Size:
Unit:
Default:
Description:
Sub-index n-1
Access:
Range:
Size:
Unit:
Default:
Description:
Sub-index n
Access:
Range:
Size:
Unit:
Default:
Description: