3 implemented coe objects, Implemented coe objects, Cess to – Lenze E94AYCET User Manual
Page 79: 9parameter data transfer
Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
79
9
Parameter data transfer
9.3
Implemented CoE objects
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
9.3
Implemented CoE objects
Lenze devices can be parameterised with both Lenze codes and the manufacturer-independent "CoE
objects". In order to comply fully with EtherCAT communication, you may only use the CoE objects
for parameterisation. The CoE objects described in this manual are defined in the "EtherCAT
Specification, Part 6 – Application Layer Protocol Specification".
R: Read access only
RW: Read and write access
Index
Designation
Subindex Subindex name
Type
Bits
Access
0x1000
Device type
-
-
UDINT
32
R
0x1001
Error register
-
-
USINT
8
R
0x1008
Device name
-
-
STRING(8)
64
R
0x1009
Hardware version
-
-
STRING(8)
64
R
0x100A
Software version
-
-
STRING(7)
56
R
0x1018
Identity
0
Number of elements
USINT
8
R
1
Vendor ID
UDINT
32
R
2
Product code
UDINT
32
R
3
Revision number
UDINT
32
R
4
Serial number
UDINT
32
R
0x1600
RxPDO 1
0
Number of elements
USINT
8
RW
1 … 32
Output object 1 … 32
UDINT
32
RW
0x1A00
TxPDO 1
0
Number of elements
USINT
8
RW
1 … 32
Input object 1 … 32
UDINT
32
RW
0x1C00
Sync Man Communication type
0
Number of elements
USINT
8
R
1
Elements
UDINT
32
R
0x1C10
Sync Man 0 Assignment
0
-
UINT
16
R
0x1C11
Sync Man 1 Assignment
0
-
UINT
16
R
0x1C12
Sync Man 2 Assignment
0
Number of assigned RxPDOs
USINT
8
R
1
PDO Mapping object index of
assigned RxPDO
UDINT
32
R
0x1C13
Sync Man 3 Assignment
0
Number of assigned TxPDOs
USINT
8
R
1
PDO Mapping object index of
assigned TxPDO
UDINT
32
R
0x1C32
Sync Man 2 Synchronization
0
Number of elements
USINT
8
R
1
Synchronization type
UINT
16
R
2
Cycle time / ns
UDINT
32
R
3
Shift time / ns
UDINT
32
R
4
Sync types supported
UINT
16
R
5
Minimum cycle time / ns
UDINT
32
R
6
Minimum shift time / ns
UDINT
32
R
0x1C33
Sync Man 3 Synchronization
0
Number of elements
USINT
8
R
1
Synchronization type
UINT
16
R
2
Cycle time / ns
UDINT
32
R
3
Shift time / ns
UDINT
32
R
4
Sync types supported
UINT
16
R
5
Minimum cycle time / ns
UDINT
32
R
6
Minimum shift time / ns
UDINT
32
R