Stober EtherCAT SD6 Series User Manual

Table of contents STOBER
iv
02/2020 | ID 442516.07
10.2 Communication protocols...................................................................................................................................... 54
10.2.1 CoE: CANopen over EtherCAT............................................................................................................... 54
10.2.2 EoE: Ethernet over EtherCAT ................................................................................................................ 54
10.2.3 EoE: Application cases with STOBER devices........................................................................................ 55
10.3 Communication objects ......................................................................................................................................... 58
10.3.1 Process data objects – PDO .................................................................................................................. 58
10.3.2 Service data objects – SDO ................................................................................................................... 58
10.3.3 Emergency objects – EMCY................................................................................................................... 60
10.4 EtherCAT state machine......................................................................................................................................... 61
10.5 Synchronization ..................................................................................................................................................... 63
10.5.1 SM-Sync: Synchronization using SyncManager event .......................................................................... 64
10.5.2 DC-Sync: Synchronization using distributed clocks............................................................................... 65
10.6 Modular ESI files ....................................................................................................................................................73
10.6.1 Adding to a modular ESI file.................................................................................................................. 73
10.6.2 Deleting a module from the ESI file ...................................................................................................... 74
11 Appendix................................................................................................................................................................. 75
11.1 Supported communication objects........................................................................................................................ 75
11.1.1 ETG.1000.6 EtherCAT specification: 1000 hex – 1FFF hex .................................................................... 75
11.1.2 Manufacturer-specific parameters: 2000 hex – 53FF hex .................................................................... 77
11.1.3 CiA 402 Drives and motion control: 6000 hex – 65FF hex .................................................................... 78
11.1.4 ETG.5000.1 Modular Device Profile: F000 hex – FFFF hex.................................................................... 80
11.2 SDO transmission: Error codes............................................................................................................................... 81
11.3 EMCY message – Incorrect state transitions: Error codes .....................................................................................82
11.4 EMCY message – Device fault: Error codes............................................................................................................83
11.5 Detailed information.............................................................................................................................................. 85
11.6 Abbreviations......................................................................................................................................................... 86
12 Contact.................................................................................................................................................................... 87
12.1 Consultation, service and address ......................................................................................................................... 87
12.2 Your opinion is important to us ............................................................................................................................. 87
12.3 Close to customers around the world....................................................................................................................88
Glossary .................................................................................................................................................................. 89
List of figures........................................................................................................................................................... 91
List of tables ............................................................................................................................................................ 92

Stober EtherCAT SD6 Series Specifications

General

Brand	Stober
Model	EtherCAT SD6 Series
Category	Controller
Language	English