Wieland samos PRO COMPACT Manual page 171

Ethernet Frame
DA
EtherCAT Frame
Header
EtherCAT Datagramm
Command Header
EtherCAT Datagramm
Mailbox Header
Type = CoE (CANopen over EtherCAT)
CANopen Header
CoE Header
Number
Service
0: reserved
1: Emergency message
2: SDO request
3: SDO response
4: TxPDO
DA Destination address
CRC Checksum
Components
The components of the CoE interface are listed below:
EtherCAT State Machine
The EtherCAT State Machine controls the state of the EtherCAT coupler.
Object directory
The object directory lists all parameter, diagnostic, process or other data which can be read or
described via EtherCAT. The SDO information service provides access to the object directory.
Process data
The EtherCAT data link layer is optimized for the fast transfer of process data. This determines
how the process data of the device is assigned to the EtherCAT process data and how the ap-
plication on the device is synchronized to the EtherCAT cycle.
The assignment of the process data (mapping) is done via the PDO Mapping and the SyncMa-
nager PDO Assign objects. These describe which objects from the object directory are transfer-
red as process data with EtherCAT. The SyncManager Communication objects determine the
cycle time with which the associated process data are transferred via EtherCAT and in what
form it is synchronized for transmission.
ESI file: Wieland SP EN ETC V1.1.xml
You will receive an ESI file from Wieland for the EtherCAT gateway. This file is located either
on the enclosed disk or in the download area of http://www.wielandinc.com/. Install the ESI fi-
les in your PLC software configuration tool. Further details on installation of the ESI files can be
found in the PLC manual.
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
SA Type
Datagramm Slave 01
Reserved
EtherCAT Gateway
Data
Datagramm Slave n
...
Data Working Counter
Mailbox Service Data
CANopen Data
Service
5: RxPDO
6: Remote request of TxPDO
7: Remote request of RxPDO
8: SDO information
9...15: reserved
SA Source address
Type Ether type
(example: the entry 0x88A4 means
EtherCAT protocol.)
CRC
171