Example Of A Mailbox Access - Pilz PMCtendo DD5 Operating Manual

EtherCAT
Byte 7 Bit 0: MSB of the PDO number, see Byte 6)
Byte 8 Control byte in CAN telegram:
Byte 9 Low Byte of the CAN object number (index)
Byte
10
Byte
11
Byte
12
Byte
13
Byte
14
Byte
15
4.10.3

Example of a mailbox access

In the following example, PDOs 0x1704 is mapped.
The master issues the following mailbox output message:
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
Bit 1 ... 3: Reserved
Bit 4 ... 7: CoE specific type
– 0: Reserved
– 1: Emergency message
– 2: SDO requirement
– 3: SDO response
– 4: TXPDO
– 5: RxPDO
– 6: Remote transmission request of a TxPDO
– 7: Remote transmission request of a RxPDO
– 8 ... 15: Reserved for later applications
– Write access OK: 0x60
– Write access OK + response length: 0x43 (4 Byte), 0x47 (3 Byte), 0x4B
(2Byte), 0x4F (1Byte)
– Error during read or write access: 0x80
High Byte of the CAN object number (index)
Subindex in accordance with the CANopen specification for the Pilz servo ampli-
fier
Data (Low
Byte)
Data
–
Data
–
Data (High
Byte)
0x0A The following 10 Bytes include data (from Byte 2 to Byte 11)
0x00 The following 10 Bytes include data (from Byte 2 to Byte 11)
0x00 Address 0
0x00 Address 0
0x00 Channel 0 and priority 0
Error code in accordance with CANopen specification in
case of an error
Data value of the object in case of a successful read ac-
cess
28