4 protocols, 1 can application layer over ethercat (coe), 1 object dictionary – Bronkhorst EtherCAT User Manual
Page 12: Application layer over, Ther, Object dictionary, Object dictionary in device description file (esi), 4protocols, 1 can
BRONKHORST
®
4
PROTOCOLS
Bronkhorst instruments support the following parts of EtherCAT: CAN application layer over EtherCAT (CoE) and
Process Data (PDO).
4.1
CAN
APPLICATION LAYER OVER
E
THER
CAT
(C
O
E)
Bronkhorst High-Tech B.V. instruments support the CAN application layer over EtherCAT (CoE) protocol.
This protocol enables the exchange of data between master and slave application over EtherCAT using CANopen®
objects. These objects are described in the Object Dictionary. The SDO protocol is used to access (read or write) the
objects in the Object Dictionary.
4.1.1
Object Dictionary
The Object Dictionary consists of 2 parts:
•
objects described in the device description file.
•
objects generated by the instrument itself for the parameters as described in document 9.17.023.
4.1.1.1
Object Dictionary in device description file (ESI)
The objects described in the device description file are mandatory objects. These objects are listed in Appendix A:
Object Dictionary. For some objects additional information about the use in Bronkhorst High-Tech B.V. instruments
can be found here as well.
The current EtherCAT ESI file can be downloaded from:
Page 12
EtherCAT interface
9.17.063