Structure Of The Can Application Protocol Over Ethercat - Omron 1 S Series User Manual

5-2 Structure of the CAN Application
Protocol over EtherCAT
This section explains the structure of the CAN application protocol over EtherCAT (CoE) for a 1S-series
Servo Drive Advance Type with built-in EtherCAT communications.
Servo Drive
Application layer
EtherCAT State
Normally, EtherCAT can transmit different protocols. 1S-series Servo Drives Advance Type with Built-in
EtherCAT Communications use the IEC 61800-7 (CiA 402) drive profile.
The object dictionary in the application layer contains parameters and application data as well as infor-
mation on the PDO mapping between the process data servo interface and Servo Drive application.
The process data object (PDO) consists of the object dictionary that can be used for PDO mapping.
The contents of the process data are defined by the PDO mapping.
Process data communications cyclically reads and writes the PDO. Mailbox communications (SDO)
uses asynchronous message communications where all objects in the object dictionary can be read
and written.
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Servo Drive application
Object dictionary
SDO
Machine
(Mailbox)
Register Mailbox
SyncManager
EtherCAT data link layer
EtherCAT physical layer
5 EtherCAT Communications
PDO mapping
PDO (Cyclic)
Process data
FMMU
5
5 - 5