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Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
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A-5 EtherCAT Terminology
Use the following list of EtherCAT terms for reference.
Term Abbreviation Description
Object – Abstract representation of a component within a device, which consists of
data, parameters, and methods.
Object Dictionary OD Data structure addressed by Index and Sub-index that contains description
of data type objects, communication objects and application objects.
Service Data Object SDO CoE asynchronous mailbox communications where all objects in the object
dictionary can be read and written.
Index – Address of an object within an application process.
Sub-index – Sub-address of an object within the object dictionary.
Process Data – Collection of application objects designated to be transferred cyclically or
acyclically for the purpose of measurement and control.
Process Data Object PDO Structure described by mapping parameters containing one or several
process data entities.
Receive PDO RxPDO A process data object received by an EtherCAT slave.
Transmit PDO TxPDO A process data object sent from an EtherCAT slave.
Sync Manager SM Collection of control elements to coordinate access to concurrently used
objects.
Distributed Clock DC Method to synchronize slaves and maintain a global time base.
Device Profile – Collection of device dependent information and functionality providing
consistency between similar devices of the same device type.
Fieldbus Memory
Management Unit FMMU Single element of the fieldbus memory management unit: one
correspondence between a coherent logical address space and a coherent
physical memory location.
Physical Device Internal
Interface PDI A series of elements to access data link services from the application layer.
CAN in Automation CiA CiA is the international user’s and manufacturer’s group that develops and
supports higher-layer protocols.
CAN application protocol
over EtherCAT CoE A CAN application protocol service implemented on EtherCAT.
EEPROM EEPROM Electrically erasable PROM.
EtherCAT Technology
Group ETG The ETG is a global organization in which OEM, End Users and Technology
Providers join forces to support and promote the further technology
development.
EtherCAT slave controller ESC A controller for EtherCAT slave communication.
EtherCAT state machine ESM An EtherCAT communication state machine.
EtherCAT Slave
Information ESI An XML file that contains setting information for an EtherCAT slave.
Slave Information
Interface SII Slave information stored in the nonvolatile memory of each slave.
Power Drive System PDS A power drive system consisting of a Servo Drive, an inverter, and other
components.