EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
27
Byte 8 Control byte in CAN telegram:
– Write access: 0x23=4Byte, 0x27=3Byte, 0x2B=2Byte, 0x2F=1Byte
– Read access: 0x40
Byte 9 Low Byte of the CAN object number (index)
Byte
10
High Byte of the CAN object number (index)
Byte
11
Subindex in accordance with the CANopen specification for the Pilz servo ampli-
fier
Byte
12
Data in case of a write access (Low Byte)
Byte
13
Data in case of a write access
Byte
14
Data in case of a write access
Byte
15
Data in case of a write access (High Byte)
The servo amplifier responds to each telegram with a response in the Mailbox Input Buffer.
4.10.2
Mail Input
Te serve amplifier responds to each CoE telegram with a 16 Byte response telegram in the
Mailbox Input Buffer. The Bits are defined as follows:
Address 0x1C00
Address 0x1C0F
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
CAN over EtherCAT specific data
CoE Header
CAN specific data
(standard CAN SDO)
Byte 0 Length of the following data (Low Byte)
Byte 1 Length of the following data (High Byte)
Byte 2 Address (Low Byte)
Byte 3 Address (High Byte)
Byte 4 Bits 0 … 5: Channel
Bit 6 ... 7: Priority
Byte 5 Bits 0 … 3: Type
– 1 = Reserved: ADS over EtherCAT
– 2 = Reserved: Ethernet over EtherCAT
– 3 = CAN over EtherCAT…)
Bits 4 … 7: Reserved
Byte 6 PDO number
(Only in case of PDO transmission, Bit 0 = LSB of the PDO number, see Byte 7
for MSB)
