Anybus CompactCom 40 EtherCAT, Network Manual, Page: 16 / 138

Basic Operation 14 (136)
3.3 CANopen over EtherCAT Implementation Details
3.3.1 General Information
As mentioned previously, the module implements CANopen over EtherCAT. The object imple-
mentation is based on the DS301 communication profile.
See also...
• Data exchange, p. 15
• Object Dictionary (CANopen over EtherCAT), p. 21
3.3.2 Implemented Services
The module implements the following CANopen services:
Service Description
SDO Download Expedited Writes up to four octets to the slave
SDO Download Normal Writes up to a negotiated number of octets to the slave
Download SDO Segment Writes additional data if the object size exceeds the negotiated no. of octets.
SDO Upload Expedited Reads up to four octets from the slave
SDO Upload Normal Reads up to a negotiated number of octets from the slave§
Upload SDO Segment Reads additional data if the object size exceeds the negotiated no. of octets
Abort SDO Transfer Server abort of service in case of an erroneous condition
Get OD List Reads a list of available indices
Get Object Description Reads details of an index
Get Entry Description Reads details of a subindex
Emergency Reports unexpected conditions and diagnostic events.
Anybus ® CompactCom ™ 40 EtherCAT ® Network Guide SCM-1202-034 1.1