Datalogic AMT58 Series Manual page 152

6.2.2 Communication messages
EtherCAT Datagram of CoE mode has the following structure:
Mbx Header
Numb
type = 3
6 bytes
Mbx Header = 3
Number = 0 in case of SDO messages
≠ 0 in case of PDO messages, it defines the type of
service
res reserved bits
Type = 0 reserved
= 1 Emergency message
= 2 SDO request
= 3 SDO response
= 4 Transmitted PDO (TxPDO)
= 5 Received PDO (RxPDO)
= 6 Remote transmission request of TxPDO
= 7 Remote transmission request of RxPDO
= 8 SDO information
= 9 ... 15 reserved
Cmd specific data PDO messages: are the process data, e.g.
position value
Transmit (tx) or receive (rx) "Type" is viewed from Slave.
6.2.3 Process Data Objects (PDO)
PDO messages are used for transmitting or receiving process data in
real time; data to be transmitted or received is defined in PDO
Mapping and managed by Sync Manager PDO Mapping.
CoE Cmd
Typ
res
er e
3
9 bits 3 bits
bits
CoE mode
SDO messages: standard CANopen frame
AMT58x-EC EtherCAT®
Cmd specific
data
0 ... 1478
bytes
43