EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
28
Byte 7 Bit 0: MSB of the PDO number, see Byte 6)
Bit 1 ... 3: Reserved
Bit 4 ... 7: CoE specific type
– 0: Reserved
– 1: Emergency message
– 2: SDO requirement
– 3: SDO response
– 4: TXPDO
– 5: RxPDO
– 6: Remote transmission request of a TxPDO
– 7: Remote transmission request of a RxPDO
– 8 … 15: Reserved for later applications
Byte 8 Control byte in CAN telegram:
– Write access OK: 0x60
– Write access OK + response length: 0x43 (4 Byte), 0x47 (3 Byte), 0x4B
(2Byte), 0x4F (1Byte)
– Error during read or write access: 0x80
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 (Low
Byte)
– Error code in accordance with CANopen specification in
case of an error
– Data value of the object in case of a successful read ac-
cess
Byte
13
Data
Byte
14
Data
Byte
15
Data (High
Byte)
4.10.3
Example of a mailbox access
In the following example, PDOs 0x1704 is mapped.
The master issues the following mailbox output message:
Byte 0
0x0A
The following 10 Bytes include data (from Byte 2 to Byte 11)
Byte 1
0x00
The following 10 Bytes include data (from Byte 2 to Byte 11)
Byte 2
0x00
Address 0
Byte 3
0x00
Address 0
Byte 4
0x00
Channel 0 and priority 0
