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Manual – XFE24A EtherCAT Fieldbus Interface
6
Parameter setting via EtherCAT
Operating Behavior on EtherCAT
6.2 Parameter setting via EtherCAT
The SDO services READ and WRITE, which are common in CoE (CANopen over
EtherCAT), provide access to the drive parameter in EtherCAT.
6.2.1 SDO services READ and WRITE
Depending on the EtherCAT master or the configuration environment, the user interface
is represented differently. In each case, however, the following data is required for exe-
cuting the SDO command.
For the SDO services READ and WRITE, other flags and parameters might be neces-
sary:
• For activating the function
• For In-progress message or error message
• For timeout monitoring
• For reporting errors during the execution
MOVITOOLS
®
MotionStudio can access all unit functions via VoE services (Vendor-
specific over EtherCAT).
SDO-READ Description
Slave address (16 bit) EtherCAT address of the servo inverter from which the data is to be read.
Index (16 bit)
Subindex (8 bit)
Address in the object dictionary from which the data is to be read.
Data
Data length
Structure for storing the received data and its length.
SDO-WRITE Description
Slave address (16 bit) EtherCAT address of the servo inverter to which the data is to be written.
Index (16 bit)
Subindex (8 bit)
Address in the object dictionary to which the data is to be written.
Data
Data length
Structure in which the data to be written is stored.
0 0
I