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INOVANCE TECHNOLOGY EUROPE GmbH
MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
6.3 ETHERCAT COMMUNICATION
6.3.1 ETHERCAT COMMUNICATION ADDRESS
Each MD800 parameter has an EtherCAT communication address associated with it, within the object
dictionary. This address allows external communication with that parameter via EtherCAT fieldbus. All
addresses in the object dictionary are made up of two parts:
• Object Dictionary Index – Related with the module type and the parameter group
• Object Dictonary Sub-Index – Related with the parameter ID
Each MD800 can control up to 8 Axes plus the rectifier. It is simple to determine the relation between any
MD800 parameter and the communication address by this method:
Object Dictionary Index = 0x2100 + Parameter Group
Object Dictionary Sub-Index = 0x1 + Parameter ID
Object Dictionary Index = 0x2000 + Group Number + ( (Axis Number – 0x1) * 0x800 )
Object Dictionary Sub-Index = 0x1 + Parameter ID
For example:
For axis 2 parameter F0-03 (Main frequency source X selection) and communication address 0xF003, the
corresponding object dictionary index and sub-index are 0x28F0 and 0x04, respectively.
6.3.2 PDO AREA DATA
The PDO data is used for the master station to read and write Drive data in real time and perform periodic data
exchange. Data communication addresses are directly configured by the Drive. It mainly includes:
1. Real-time setting of Drive control command and target frequency
2. Real-time reading of Drive current state and running frequency
3. Function parameter and monitor data real-time exchange between Drive and
EtherCAT master station
There are two types of PDO data:
• RPDO or RxPDO. These PDOs contain data received from the Master
• TPDO or TxPDO. These PDOs contain data transmitted by MD800
MD800 is a multi-axis device, therefore, it provides to the communications master with an independent set of
PDOs for each of its devices. A maximum of 16 RPDOs and 16 TPDOs can be configured for each device.
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