A 6.1.8 Service Data Sdo Service; A 6.2 Coe - Object Directory; A 6.2.1 Communication Specific Standard Objects (Cia Ds-301) - MICRO-EPSILON capaNCDT 6200 Operating Instructions Manual

Appendix| EtherCAT Documentation

A 6.1.8 Service Data SDO Service

Service Data Objects (SDOs) are primarily used for the transmission of data that are not time critical, e.g. pa-
rameter values. EtherCAT specifies the SDO services as well as the SDO information services: SDO services
make possible the read/write access to entries in the CoE object directory of the device. SDO information
services make it possible to read the object directory itself and to access the properties of the objects. All pa-
rameters of the measuring device can be read or changed in this way, or measurements can be transmitted.
A desired parameter is addressed via index and subindex within the object directory.
A 6.2
The CoE object directory (CANopen over EtherCAT) contains all the configuration data of the sensor. The
objects in CoE object directory can be accessed using the SDO services. Each object is addressed using a
16-bit index.

A 6.2.1 Communication Specific Standard Objects (CiA DS-301)

Overview
Index (h)
capaNCDT 6200
CoE – Object Directory
Name
1000 Device type
1001 Error register
1008 Device name
1009 Hardware version
100A Software version
1018 Identity
1A00 TxPDO Mapping
1C00 Sync. manager type
1C13 TxPDO assign
Description
Device type
Error register
Manufacturer device name
Hardware version
Software version
Device identification
TxPDO Mapping
Sync. manager type
TxPDO assign
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