Communication; Coe Reference Model - INVT Goodrive350 Series Operation Manual

Communication extension card

6.4 Communication

6.4.1 CoE reference model

CoE network reference model consists of the data link layer and application layer. The data
link layer is responsible for EtherCAT communication protocol. CANopen drive Profile (DS402)
communication rules are embedded in the application layer. The object dictionary in CoE
includes the parameters, application data, and PDO mapping configuration information.
PDOs are composed of the objects (in the object dictionary) that can perform PDO mapping.
The content in PDO data is defined by PDO mapping. PDO data is periodically read and
written, which does not require searching the object dictionary. Mail box communication (SDO)
is not periodic, which requires searching the object dictionary.
Note: To parse SDO and PDO data correctly on the EtherCAT data link layer, it is necessary
to configure FMMU and Sync Manager (SM).
Synchronization
management
Sync Manager 0
Sync Manager 1
Sync Manager 2
Sync Manager 3
EtherCAT
state
machine
SDO
Register
Mail box
SM0
EtherCAT physical layer
Figure 6-3 CoE reference model
Table 6-4 EtherCAT Sync Manager configuration
Configuration
Assigned to receive
SDO
Assigned to send
SDO
Assigned to receive
PDO
Assigned to send
PDO
GD350 application
Object dictionary (OD)
PDO mapping
Process data
SM1 SM2
EtherCAT data link layer
Size
512byte
512byte
128byte
128byte
-83-
EtherCAT communication card
SM3
Start address
0x1000
0x1400
0x1800
0x1C00