Beckhoff EL7037 User Manual download pdf (Page 32)

Basics communication

In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox

communication is possible.

Boot

In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state.

In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no

other mailbox communication and no process data communication.

3.5 CoE Interface

General description

The CoE interface (CANopen over EtherCAT) is used for parameter management of EtherCAT devices.

EtherCAT slaves or the EtherCAT master manage fixed (read only) or variable parameters which they

require for operation, diagnostics or commissioning.

CoE parameters are arranged in a table hierarchy. In principle, the user has read access via the fieldbus.

The EtherCAT master (TwinCAT System Manager) can access the local CoE lists of the slaves via

EtherCAT in read or write mode, depending on the attributes.

Different CoE parameter types are possible, including string (text), integer numbers, Boolean values or larger

byte fields. They can be used to describe a wide range of features. Examples of such parameters include

manufacturer ID, serial number, process data settings, device name, calibration values for analog

measurement or passwords.

The order is specified in 2 levels via hexadecimal numbering: (main)index, followed by subindex. The value

ranges are

• Index: 0...65535

• SubIndex: 0...255

A parameter localized in this way is normally written as x8010:07, with preceding "x" to identify the

hexadecimal numerical range and a colon between index and subindex.

The relevant ranges for EtherCAT fieldbus users are:

• x1000: This is where fixed identity information for the device is stored, including name, manufacturer,

serial number etc., plus information about the current and available process data configurations.

• x8000: This is where the operational and functional parameters for all channels are stored, such as

filter settings or output frequency.

Other important ranges are:

• x4000: In some EtherCAT devices the channel parameters are stored here (as an alternative to the

x8000 range).

• x6000: Input PDOs ("input" from the perspective of the EtherCAT master)

• x7000: Output PDOs ("output" from the perspective of the EtherCAT master)

Note

Availability

Not every EtherCAT device must have a CoE list. Simple I/O modules without dedicated

processor usually have no variable parameters and therefore no CoE list..

If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the

elements:

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Beckhoff EL7037 User Manual Page 32