4 EtherCAT interface
Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English 53
These Sync channels are permanently allocated to the individual transfer types and cannot be changed
by the user. The allocation is as follows:
– Sync channel 0: Mailbox telegram protocol for incoming SDOs (Master => Slave)
– Sync channel 1: Mailbox telegram protocol for outgoing SDOs (Master <= Slave)
– Sync channel 2: Process data telegram protocol for incoming PDOs (Master => Slave).
The object 1C12
h
must be observed here.
– Sync channel 3: Process data telegram protocol for outgoing PDOs (Master <= Slave).
The object 1C13
h
must be observed here.
The parametrisation of the individual PDOs is set via objects 1600
h
to 1603
h
(Receive PDOs) and 1A00
h
to 1A03
h
(Transmit PDOs). Parametrisation of the PDOs is carried out as described in chapter 3
“ CANopen access procedure”.
The Sync channels can only be set and the PDOs only configured in the “Pre-Operational” status.
It is not intended to parameterise the slave under EtherCAT. The device description files
are available for this purpose. They prescribe the total parametrisation, including PDO
parametrisation, which is used by the master during initialisation.
All changes to the parametrisation should therefore not be made by hand, but in the
device description files. For this purpose, sections of the device description files that are
important for the user are described in more detail in section 4.12.
The Sync channels described here are NOT the same as the Sync telegrams familiar from
CANopen. CANopen Sync telegrams can still be transmitted as SDOs via the SDO interface
implemented under CoE, but do not directly influence the Sync channels described above.
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