Lust ServoOne - Page 38

User Manual CANopen/EtherCAT
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ServoOne supports the CAN over EtherCAT (CoE) and Ethernet over EtherCAT (EoE)
protocol. The following functions/services are implemented:
CoE
Sdo/Abort
Initiate SDO Download
Download SDO Segment
Initiate SDO Upload
Upload SDO Segment
Abort SDO Transfer
All device parameters are accessible via object ID 2000H + x
Note: Profile-specific parameters are visible in DriveManager, but only in
range 1000H... (DS301 objects)/6000H... (DS402 objects) writeable/readable.
This means parameters stored both as device parameters (range 2xxxH) and
also as profile parameters (DS301/DS402) can only be read and written to via
their object number (DS301/DS402 profile).
Example:
The object 1000h Device Type exists both in the DS301 profile and also as device pa
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rameters with parameter number 2011. Simultaneous two-way access would therefore
be possible via CANopen or EtherCAT. In order to uniquely configure the access, the
read/write-access for this object is only possible via profile-specific object number 1000h
(as per DS301).
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Emergency
The Emergency service is designed for the transfer of error messages. In contrast to
CANopen, emergency messages in EtherCAT are not autonomously sent from the slave
but are retrieved by the master.
Functionality in ServoOne:
ErrorCodes as per the DS402 device profile are supported.
For the structure/content of the emergency message refer to the section “Emer-
gency Objects“
SDO Information Service
The SDO Information Service allows the master to read the object directory of the
slave. In this way, the master can determine the supported objects of the slave with the
required additional information (e. g. data type/access rights etc.). The SDO Information
Service therefore represents an alternative in the use of EDS files known to CANopen.
Functionality in ServoOne:
Access to the object list and description
Alternatives for integrating the EDS file
EoE
Functions such as the tunnelling of standard Ethernet frames in EtherCAT generally fall
under Ethernet over EtherCAT. This enables protocols, for example TCP/IP to be trans-
ferred via EtherCAT.
Implemented functionality in ServoOne:
Initiate EoE request
Initiate EoE response
EoE fragment request
EoE fragment response
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