Lenze 931K - Manual (Page 21)

CANopen over EtherCAT (CoE)
New communication objects
New and changed CANopen communication objects under CoE
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21 KHB 13.0005−EN 1.0
8.2.2 New and changed CANopen communication objects under CoE
The following table provides an overview of the indexes and subindexes used for the
CANopen−compatible communication objects which have been added for the EtherCAT
fieldbus system in the range of 0x1000h to 0x1FFFh. They mainly replace the
communication parameters in accordance with the CiA standard DS301.
Identifier Name Meaning
0x1000 Device type Identifier of the device control
0x1018 Identity Object Vendor ID, product code, revision serial number
0x1100 EtherCAT fixed station address Fixed address that is assigned to the slave by the master during
the initialisation
0x1600 1. RxPDO Mapping Identifier of the 1. receive PDO
0x1601 2. RxPDO Mapping Identifier of the 2. receive PDO
0x1A00 1. TxPDO mapping Identifier of the 1. transmit PDO
0x1A01 2. TxPDO mapping Identifier of the 2. transmit PDO
0x1C00 Sync Manager Communication
type Object for the configuration of the individual sync channels
(SDO or PDO transfer)
0x1C10 Sync Manager PDO Mapping
for Sync channel 0 Assignment of sync channel 0 to a PDO/SDO
(Channel 0 is always reserved for the mailbox receive SDO
transfer)
0x1C11 Sync Manager PDO Mapping
for Sync channel 1 Assignment of sync channel 1 to a PDO/SDO
(Channel 1 is always reserved for the mailbox transmit SDO
transfer)
0x1C12 Sync Manager PDO Mapping
for Sync channel 2 Assignment of sync channel 2 to a PDO (Channel 2 is reserved
for receive PDOs)
0x1C13 Sync Manager PDO Mapping
for Sync channel 3 Assignment of sync channel 3 to a PDO (Channel 3 is reserved
for transmit PDOs)
In the following chapters the objects 0x1C00 and 0x1C10 to 0x1C13 are specified, since
they are only defined and implemented under the EtherCAT CoE protocol and thus cannot
be found in the CANopen manual.
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Note!
ƒ The 931K servo position controller with the EtherCAT technology module
supports two receive PDOs (RxPDO) and two transmit PDOs (TxPDO).
ƒ The objects 0x1008, 0x1009, and 0x100A are not supported by the 931K
since plain text strings cannot be read by the servo position controller.