Ethercat Communications And Motion Control; Can Application Protocol Over Ethercat (Coe) - Omron NY532-1500 User Manual

2 Motion Control Configuration and Principles
2-4 EtherCAT Communications and
Motion Control
The MC Function Module controls Servo Drives, counters, and NX-series Position Interface Units
through the PDO communications of the EtherCAT Master Function Module embedded in the Real-
Time OS of the Industrial PC. This section describes EtherCAT communications and other items related
to the MC Function Module.
2-4-1

CAN Application Protocol over EtherCAT (CoE)

The MC Function Module exchanges data with the slaves on EtherCAT using the CAN application pro-
tocol over EtherCAT (CoE). With CoE, the parameters and control information held by the slaves are
specified according to data specifications of the object dictionary (OD). To communicate the data
between the Controller (communications master) and slaves, two methods are used: process data
objects (PDOs), which periodically exchange data in realtime, and service data objects (SDOs), which
exchange data when required.
The MC Function Module uses PDO communications for commands to refresh I/O data, such as data
for Servomotor position control, on a fixed control period. It uses SDO communications for commands
to read and write data at specified times, such as for parameter transfers.
Controller
(communications master)
PDO communications
SDO communications
2-12
EtherCAT
communications lines
Executed periodically.
Output data
Input data
Write data
Read data
Executed for requests.
NY-series Industrial Panel PC / Industrial Box PC Motion Control User's Manual (W559)
Slaves