Lenze i700 - Manual (Page 26)

3 Communication with the controller
3.3 Parameter data transfer (SDO communication)
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Lenze · i700 servo inverter · Reference manual · DMS 1.5 EN · 03/2014 · TD05
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3.3 Parameter data transfer (SDO communication)
In addition to the cyclic process data transfer, parameter data can be transferred as so-called SDOs
(Service Data Objects) in a non-cyclic manner within an individual datagram between the controller
(master) and the controllers (slaves).
• SDO communication is implemented according to the EtherCAT-CoE protocol, using a mailbox.
• SDO communication enables read or write access to all indices contained in the object directory
of the i700 servo inverter.
• The turnaround time for an SDO (request by the control, transport via the bus, processing in the
drive, transport of the response back to the control) is between 1 ms and 100 ms plus 2 * bus
cycle time (typically 10 ms).
3.3.1 Object directory
The object directory contains the specific indices for all axes. The object directory is structured
according to specifications of the EtherCAT Technology Group (ETG):
Range Index area
Device Axis A Axis B
Communication Area 0x1000 - 0x1FFF
Identification data 0x1000 - 0x1018 - -
Sync manager 0x1C00 - 0x1C33 - -
PDO mapping - 0x1600 - 0x1606
0x1A00 - 0x1A05
0x1610 - 0x1616
0x1A10 - 0x1A15
Manufacturer specific area 0x2000 - 0x5FFF
Device settings 0x2000 - 0x27FF - -
Axis identification - 0x2800 - 0x281F 0x3000 - 0x301F
Axis control - 0x2820 - 0x283F 0x3020 - 0x303F
Error management - 0x2840 - 0x28FF 0x3040 - 0x30FF
Motor control & motor settings - 0x2900 - 0x2CFF 0x3100 - 0x34FF
Touch probe - 0x2D00 - 0x2D3F 0x3500 - 0x353F
Monitoring functions - 0x2D40 - 0x2D7F 0x3540 - 0x357F
Diagnostics - 0x2D80 - 0x2DBF 0x3580 - 0x35BF
Service/internal - 0x2DC0 - 0x2E3F 0x35C0 - 0x363F
Reserved - 0x2E40 - 0x2FFF 0x3640 - 0x37FF
CiA402 profile specific area 0x6000 - 0xDFFF
Device profile CiA402 - 0x6000 - 0x67FF 0x6800 - 0x6FFF