Canopen Over Ethercat (Coe) - Control Techniques Nidec SI-EtherCAT User Manual

6.3

CANopen over EtherCAT (CoE)

The CoE protocol over EtherCAT uses a modified form of the CANopen object dictionary. This is
specified in Table 6-2.
Table 6-2 CoE object dictionary
0x0000 to 0x0FFF
0x1000 to 0x1FFF
0x2000 to 0x5FFF
0x6000 to 0x9FFF
0xA000 to 0xFFFF
The object description format describes object related information such as size, range and
descriptions and is detailed in Table 6-3.
Table 6-3 Object description format
<index> <object name>
Sub-index 0
Access: <access>
Default: <default>
PDO mappable:<All/Rx/Tx/No>
Description: <description>
For entries having sub-indices
Table 6-4 Object description format with sub-indices
<index> <object name>
Sub-index 0
Access: <access>
Default: <default>
PDO mappable:<All/Rx/Tx/No>
Description: <description>
Sub-index 1
Access: <access>
Default: <default>
PDO mappable:<All/Rx/Tx/No>
Description: <description>
Sub-index ...
Access: <access>
Default: <default>
PDO mappable:<All/Rx/Tx/No>
Description: <description>
Sub-index n-1
Access: <access>
Default: <default>
PDO mappable:<All/Rx/Tx/No>
Description: <description>
30
Index
Range: <range>
Range: <range>
Range: <range>
Range: <range>
Range: <range>
Object dictionary area
Data type area
CoE communication area
Manufacturer specific area
Profile area
Reserved area
Size: <size>
Type: <Data Type>
Update Rate: <when and how often>
Size: <size>
Type: <Data Type>
Update Rate: <when and how often>
Size: <size>
Type: <Data Type>
Update Rate: <when and how often>
Size: <size>
Type: <Data Type>
Update Rate: <when and how often>
Size: <size>
Type: <Data Type>
Update Rate: <when and how oftene>
SI-EtherCAT User Guide
Unit: <unit>
Unit: <N/A>
Unit: <N/A>
Unit: <N/A>
Unit: <N/A>