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>

 

 

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SM-EtherCAT User Guide

19

Issue Number: 2

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