Table 114: Coe Components - WAGO I/O-SYSTEM 750 Manual

150 Fieldbus Communication
By using a mailbox with the assistance of CANopen
accessed from the entries in the Object Dictionary.
Likewise, EtherCAT
effort.
Communication mechanisms known from CANopen
(process data objects) and SDO (service data objects) – can be used with
EtherCAT
the network management is also comparable.
When you include the greater bandwidth of EtherCAT
the objects even further.
The CoE comprises the components described in the following table:

Table 114: CoE Components

CoE
Components

EtherCAT
Machine
Object Dictionary All EtherCAT
Process Data

EtherCAT
Up
Command
Objects
Emergencies
Manual
Version 1.2.1
750-354/000-001 EtherCAT® Fieldbus Coupler, ID Switch

can be implemented on CANopen

. This allows you to use a major portion of the CANopen
Description
State The status of the EtherCAT
Machine.

slaves that support the CoE interface have an Object
Dictionary. This contains all parameters, diagnostics, process and other data
that can be read or written using EtherCAT
The ESI file supplies the Object Dictionary that is selected by the SDO
information service. For this reason, the information service has to be laid out
such that the object description part, beginning with Index 0x1000 of each
object respectively, can be selected, as this contains the data type, length,
access rights, and information about whether the object can be used as a
process datum and imaged in a PDO.
The mapping, i.e. the arrangement of a devices' process data with the

EtherCAT process data, takes place using the PDO mapping objects. The
Sync Manager PDO Assign Objects also writes which objects are to be
transmitted from the Object Dictionary as process data using EtherCAT
The minimum requirement for an EtherCAT
and Sync Manager PDO Assign Objects are readable.

If the EtherCAT
by the EtherCAT
Assign Object are also writable.
The Sync Manager Communication Objects serve to determine the cycle time
with which the related process data will be transmitted via EtherCAT
as the form of the synchronization for this transmission.
Start- The link between the EtherCAT
and setting the device parameters in the run-up of the EtherCAT
written by the EtherCAT
Command objects allow actions to start in a device that require a certain time
until the results are available.
Emergencies are status messages that transmit diagnostics or process results
with timestamps, e.g. for the record function of an event logger.
The status messages about the current status of the device, which must be
synchronous with the actual process data in the control application, should, in
contrast, be transmitted directly with the process data.



slaves is controlled using the EtherCAT
slave also has process data mapping that can be configured

master, then the PDO mapping and the Sync Manager PDO

Start Machine, the process data mapping,

start-up.
WAGO-I/O-SYSTEM 750
, known SDOs can be

devices with very little
– object dictionary, PDO

firmware;

, it is possible to expand


.

slave is that this PDO mapping


network is
State

.
as well