4.1.3 CoE - CANopen over Ethernet
CoE means CANopen over EtherCAT. With CANopen you get a standard user interface,
which makes a simplified system structure possible with most different devices. With CoE
the device parameters may comfortably be accessed and data were may be read or
written at the same time. Real-time data may be read by PDOs an the parametrization
happens by SDOs. Further there are emergency objects available.
DA
Destination address
SA
Source address
CRC Checksum
4.1.4 EoE - Ethernet over EtherCAT
EoE means Ethernet over EtherCAT.
n
Automatically activated when switching from Init to Pre-Operational (Pre-Op).
n
Is deactivated automatically when switching from Pre-Operational (Pre-Op) to Init.
4.1.5 ESI files
You get an ESI file from Yaskawa for the EtherCAT coupler. For System SLIO this file can
be found in the
‘Download Center’
of
www.yaskawa.eu.com
at
‘ESI 053-1EC01’
. Install
the ESI files in your configuration tool. More information about installing the ESI file may
be found in the manual of the according engineering tool. For configuration in your confi-
guration tool, every System SLIO module may be found in the ESI files as XML data.
System SLIO
Deployment
Basics EtherCAT > ESI files
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