Lika H 58 Series, Руководство пользователя

Страница: 58 / 70

Hx58x EtherCAT®
5.2 CANopen Over EtherCAT (CoE)
Lika encoders are slave devices and support “CanOpen Over EtherCAT” (COE)
mode for data transfer. In particular, they support the “Device profile for
encoders”, Class 2.
For any omitted specification on CANopen® protocoll, please refer to “CiA Draft
Standard 301” and “CiA Draft Standard 406” documents available at the address
www.can-cia.org
.
For any omitted specification on EtherCAT® protocoll, please refer to “ETG.1000
EtherCAT Specification” document available at the address
www.ethercat.org
.
5.2.1 File XML
EtherCAT® encoders are supplied with their own XML file
Lika_Hx58_EC_Vx.xml
(see enclosed documentation or click
www.lika.biz >
PRODUCTS > ROTACOD > Hx58x EC
).
XML file has to be installed on EtherCAT® master device.
5.2.2 Communication messages
EtherCAT Datagram of CoE mode has the following structure:
Mbx Header CoE Cmd Cmd specific data
type = 3 Number res Type
6 byte 9 bit 3 bit 3 bit 0…1478 byte
Mbx Header = 3 CoE mode
Number = 0 in case of SDO messages
≠ 0 in case of PDO messages, it defines the type of service
res reserved bits
Type = 0 reserved
= 1 Emergency message
= 2 SDO request
= 3 SDO response
= 4 Transmitted PDO (TxPDO)
= 5 Received PDO (RxPDO)
= 6 Remote transmission request of TxPDO
= 7 Remote transmission request of RxPDO
= 8 SDO information
= 9…15 reserved
Cmd specific data PDO messages: are the process data, e.g. position value
SDO messages: standard CANopen frame
Transmit (tx) or receive (rx) “Type” is viewed from slave.
MAN HM58x EC I_E 1.2.odt 58 www.lika.it
www.lika.biz