Lenze 931K - Manual (Page 33)

CANopen over EtherCAT (CoE)
Process data transfer
Differences in the state machine under CANopen and EtherCAT
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33 KHB 13.0005−EN 1.0
the 931K, apart from the mapping of the CANopen objects, also allows for using the objects
for the CANopen protocol available for the 931K transmission type of the PDOs for the
PDOs to be parameterised.
An exception to this is the "Sync message" transmission type. This transmission type
cannot be used under the EtherCAT CoE implementation for the 931K servo position
controller, as EtherCAT CoE does not offer any equivalent telegrams for the sync telegrams
defined under CANopen, and the FPGA block ESC10 used in the 931K servo position
controller does not support synchronisation via the "Distributed Clocks" specified under
EtherCAT.
For further information please refer to the CANopen manual of the 931K servo position
controller.
)
Note!
The 931K servo position controller with the EtherCAT technology module
supports the functions:
ƒ Cyclic PDO frame telegram by the process data telegram protocol.
)
Note!
The 931K servo position controller with the EtherCAT technology module
supports two receive PDOs (RxPDO) and two transmit PDOs (TxPDO).
The two RxPDOs or the two TxPDOs have to be mapped to a sync channel of
the sync manager, respectively.