Leuze electronic MSI 400 Series Manual page 153

Ethernet Frame
DA SA
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
Leuze electronic
Type
Datagramm Slave 01
Reserved
Data
Datagramm Slave n
...
Data
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 Ether-
CAT protocol.)
MSI 400
EtherCAT Gateway
Working Counter
CRC
153