Lenze 931K User Manual
Page 20
CANopen over EtherCAT (CoE)
New communication objects
Configuration of the communication interface
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KHB 13.0005−EN 1.0
channels to the individual transfer types is fixed and cannot be changed by the user. The
assignment is as follows:
ƒ
Sync channel 0: mailbox telegram protocol for incoming SDOs (master
® slave)
ƒ
Sync channel 1: mailbox telegram protocol for outgoing SDOs (master
¬ slave)
ƒ
Sync channel 2: process data telegram protocol for incoming PDOs (master
® slave)
Here object 0x1C12 is to be observed.
ƒ
Sync channel 3: process data telegram protocol for outgoing PDOs (master
¬ slave)
Here object 0x1C13 is to be observed.
The parameterisation of the individual PDOs is set via the objects 0x1600 and 0x1601
(receive PDOs) and 0x1A00 and 0x1A01 (transmit PDOs). The parameterisation of the
PDOs in the delivery status is carried out via the control system. However, it can also be
carried out via the PDO editor of the SDC.
Basically the setting of the sync channels and the configuration of the PDOs can only be
carried out in the "Pre−operational state.
)
Note!
EtherCAT does not allow for carrying out the parameterisation of the slave on
one’s own. For this purpose the device description files are provided. They
contain the entire parameterisation, including the PDO parameterisation,
which is used like this by the master during the initialisation.
Therefore all changes of the parameter setting should not be carried out
manually, but in the device description files. For this purpose the sections of
the device description files that are important to the user are specified in the
following chapters.
For most applications Lenze provides complete device description files for the
931K.
)
Note!
The sync channels described here do NOT comply with the sync telegrams
known from CANopen. CANopen sync telegrams can furthermore be
transferred as SDOs via the SDO interface implemented under CoE, however,
they have no direct impact on the sync channels described above.