CANopen over EtherCAT

This page describes the CANopen over EtherCAT (CoE) profile of the NLi-EtherCAT motor. The motor 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.