Emerson 0471-0128-02 manual Protocols, CANopen over EtherCAT CoE, CoE object dictionary

6 Protocols

6.1CANopen over EtherCAT (CoE)

The CoE protocol over EtherCAT uses a modified form of the CANopen object dictionary. This is specified in Table 6.1:

Table 6.1 CoE object dictionary

Index	Object dictionary area
0x0000 to 0x0FFF	Data type area
0x1000 to 0x1FFF	CoE communication area
0x2000 to 0x5FFF	Manufacturer specific area
0x6000 to 0x9FFF	Profile area
0xA000 to 0xFFFF	Reserved area

The object description format describes object related information such as size, range and descriptions and is detailed in Table 6.2:

Table 6.2 Object description format

<index>	<object name>
Access: <access>		Range: <range>	Size: <size>	Unit: <unit>
Default:	<default>
Description:	<description>

For entries having sub-indices:

Table 6.3 Object description format with sub-indices

<index>	<object name>
Sub-index 0
Access: <access>		Range: <range>	Size: <size>	Unit: <unit>
Default:	<default>
Description:	<description>
Sub-index 1
Access: <access>		Range: <range>	Size: <size>	Unit: <unit>
Default:	<default>
Description:	<description>
...
Access: <access>		Range: <range>	Size: <size>	Unit: <unit>
Default:	<default>
Description:	<description>
Sub-index n-1
Access: <access>		Range: <range>	Size: <size>	Unit: <unit>
Default:	<default>
Description:	<description>
Sub-index n
Access: <access>		Range: <range>	Size: <size>	Unit: <unit>
Default:	<default>
Description:	<description>

Information	Safety
Introduction
Installation	Mechanical
Installation	Electrical
Getting Started
Protocols
support	Drive profile (DSP-402)
features	Advanced
Diagnostics
Reference	Quick
Terms	Glossary
	Of
Index

SM-EtherCAT User Guide	19
Issue Number: 2	www.controltechniques.com