Lenze 931K - Manual (Page 19)

CANopen over EtherCAT (CoE)
New communication objects
Configuration of the communication interface
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19 KHB 13.0005−EN 1.0
8.2.1 Configuration of the communication interface
The EtherCAT protocol uses two different transfer types for the transmission of the device
and user protocols, like for instance the CANopen over EtherCAT (CoE) protocol used by the
931K. These two transfer types are the mailbox telegram protocol for acyclic data and the
process data telegram protocol for the transmission of cyclic data.
For the CoE protocol these two transfer types are used for the different CANopen transfer
types. They are used as follows:
ƒ Mailbox telegram protocol
This transfer type serves to transmit the Service Data Objects (SDOs) defined under
CANopen. In EtherCAT they are transferred to SDO frames.
ƒ Process data telegram protocol
This transfer type serves to transmit the Process Data Objects (PDOs) defined under
CANopen, which are used to exchange cyclic data. In EtherCAT they are transferred to
PDO frames.
Basically all PDOs and SDOs can be used via these two transfer types just in the way they
are defined for the CANopen protocol for the 931K. For this, please refer to the CANopen
931E/K communication manual.
However, the parameterisation of the PDOs and SDOs for transmitting the objects via
EtherCAT is different to the settings that have to be made under CANopen. In order to
integrate the CANopen objects which are to be exchanged between the master and slave
via PDO or SDO transfers into the EtherCAT protocol, a so−called sync manager is
implemented under EtherCAT.
This sync manager serves to integrate the data of the PDOs and SDOs to be transmitted in
the EtherCAT telegrams. For this purpose the sync manager provides several sync channels
which can transfer a CANopen data channel (receive SDO, transmit SDO, receive PDO, or
transmit PDO) to the EtherCAT telegram in each case.
Receive SDO
Receive PDO (1/2)
Transmit SDO
Transmit PDO (1/2)
SYNC-Kanal 0
EtherCAT Bus
SYNC-Kanal 1
SYNC-Kanal 2
SYNC-Kanal 3
ESC10
931K_002
All objects are sent via so−called sync channels. The data of these channels are
automatically integrated in the EtherCAT data stream and are transferred. The EtherCAT
implementation in the 931K servo position controller supports four of these sync channels.
Therefore, in contrast to CANopen, an additional mapping of the SDOs and PDOs to the
sync channels is required. This is effected via the so−called sync manager objects (objects
0x1C00 and 0x1C10 to 0x1C13). These objects are specified in the following:
The 931K is provided with four individual sync channels. The assignment of these sync