CANopen over EtherCAT

This page describes the CANopen over EtherCAT (CoE) profile of the Epulse10 servo drive. The drive uses the DS402 profile over EtherCAT, which provides the standard modes of operation and the PDO/SDO communication.

Mode of operation: https://www.nilab.at/dokuwiki/doku.php?id=integrated_drive_motors:canopen_modes|

Standard PDOs: https://www.nilab.at/dokuwiki/doku.php?id=integrated_drive_motors:can_open_pdo|

Standard SDOs: https://www.nilab.at/dokuwiki/doku.php?id=integrated_drive_motors:canopen_sdo|

Error Codes: https://www.nilab.at/dokuwiki/doku.php?id=integrated_drive_motors:canopen_error|

- The mode of operation defines the motion behaviour (profile position, velocity, torque, etc.). - The PDOs are used for cyclic data exchange (commands and status); the SDOs are used for parameter access. - The error codes are read from the drive and used for diagnostics. - Refer to the linked pages for the detailed object definitions and the mapping.