Stober SC6 Series Operating Manual

Table of contents STOBER
iv
02/2020 | ID 443025.06
9 Looking for more information about EtherCAT? ...................................................................................................... 49
9.1 EtherCAT ................................................................................................................................................................ 49
9.2 Communication protocols...................................................................................................................................... 50
9.2.1 CoE: CANopen over EtherCAT............................................................................................................... 50
9.2.2 EoE: Ethernet over EtherCAT ................................................................................................................ 50
9.2.3 EoE: Application cases with STOBER devices........................................................................................ 51
9.3 Communication objects ......................................................................................................................................... 53
9.3.1 Process data objects – PDO .................................................................................................................. 53
9.3.2 Service data objects – SDO ................................................................................................................... 54
9.3.3 Emergency objects – EMCY................................................................................................................... 55
9.4 EtherCAT state machine......................................................................................................................................... 56
9.5 Synchronization ..................................................................................................................................................... 58
9.5.1 SM-Sync: Synchronization using SyncManager event .......................................................................... 59
9.5.2 DC-Sync: Synchronization using distributed clocks............................................................................... 60
9.6 Modular ESI files ....................................................................................................................................................73
9.6.1 Adding to a modular ESI file.................................................................................................................. 73
9.6.2 Deleting a module from the ESI file ...................................................................................................... 74
10 Appendix................................................................................................................................................................. 75
10.1 Supported communication objects........................................................................................................................ 75
10.1.1 ETG.1000.6 EtherCAT specification: 1000 hex – 1FFF hex .................................................................... 75
10.1.2 Manufacturer-specific parameters: 2000 hex – 53FF hex .................................................................... 77
10.1.3 CiA 402 Drives and motion control: 6000 hex – 65FF hex .................................................................... 78
10.1.4 Manufacturer-specific parameters: A000 hex – D3FF hex.................................................................... 81
10.1.5 CiA 402 Drives and motion control: 6800 hex – 6DFF hex.................................................................... 82
10.1.6 ETG.5000.1 Modular Device Profile: F000 hex – FFFF hex.................................................................... 85
10.2 SDO transmission: Error codes............................................................................................................................... 85
10.3 EMCY message – Incorrect state transitions: Error codes .....................................................................................86
10.4 EMCY message – Device fault: Error codes............................................................................................................87
10.5 Detailed information.............................................................................................................................................. 88
10.6 Abbreviations......................................................................................................................................................... 89
11 Contact.................................................................................................................................................................... 90
11.1 Consultation, service and address ......................................................................................................................... 90
11.2 Your opinion is important to us ............................................................................................................................. 90
11.3 Close to customers around the world....................................................................................................................91
Glossary .................................................................................................................................................................. 92
List of figures........................................................................................................................................................... 94
List of tables ............................................................................................................................................................ 95

Stober SC6 Series Specifications

General

Brand	Stober
Model	SC6 Series
Category	Controller
Language	English