3-2
Structure of the CAN Application Pro-
tocol over EtherCAT
This section explains the structure of the CAN application protocol over EtherCAT (CoE) for an M1-
series Inverters with Built-in EtherCAT Communications.
FMMU
SyncManager
PDO (Cyclic)
PDO mapping
SDO
EtherCAT physical layer
EtherCAT data link layer
Inverter
Application layer
EtherCAT State
Machine
Inverter application
Process dataMailboxRegister
(Mailbox)
Object dictionary
Normally, EtherCAT can transmit different protocols. M1-series Inverters with Built-in EtherCAT Com-
munications use the IEC 61800-7 (CiA 402) drive profile.
The object dictionary in the application layer contains parameters and application data as well as infor-
mation on the PDO mapping between the process data servo interface and Servo Drive application.
The process data object (PDO) consists of the object dictionary that can be used for PDO mapping.
The contents of the process data are defined by the PDO mapping.
Process data communications cyclically reads and writes the PDO. Mailbox communications (SDO)
uses asynchronous message communications where all objects in the object dictionary can be read
and written.
3 EtherCAT Communications
3-4
M1 Series EtherCAT Type User’s Manual (I670)
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