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EtherCAT Slave 入门教程 - SDO服务(1)

时间:2019-07-10 15:05:59      阅读:296      评论:0      收藏:0      [点我收藏+]

标签:报文   flags   gen   sla   ber   merge   eth   ali   protocol   

邮箱服务数据帧

帧结构

  • EtherCAT子报文:
子报文头 数据 WKC

数据:

邮箱协议数据

邮箱协议数据:

Mailbox Header Mailbox Data

Mailbox Data:

CoE Header SDO

SDO:

SDO Header SDO Data
  • 描述
  1. Mailbox Header: 6 octets
    1. Length:2 octets, 指定Mailbox Data的字节数
    2. Address: 2 octets, 主从通信时,为从站地址;从站间通信,为目的从站地址
    3. Flags: 2 octets

      field size detail
      channel 6 bits 0(reserved)
      priority 2 bits 0: lowest
      ...
      3: highest
      type 4 bits mailbox data type
      counter 3 bits counter of mailbox services
      1~7
      reserved 1 bits 0
  2. Mailbox Data: x~1480 octets
    1. CoE Header: 2 octets
    2. SDO: 8~1478 octets
      1. SDO Header: 4 octets
      2. SDO Data: 4~1474 octets

SDO服务

  1. Mailbox Data type:

    value type detail
    1 AoE ADS over EtherCAT
    2 EoE Ethernet over EtherCAT
    3 CoE CANopen over EtherCAT
    4 FoE File Access over EtherCAT
    5 SoE Servo Drive Profile over EtherCAT
    15 VoE Vendor specific protocol over EtherCAT
  2. CoE Header:

    field size detail
    number 9 bits 0
    reserved 3 bits 0
    service 4 bits 1: Emergency
    2: SDO请求
    3: SDO响应
    4: TxPDO
    5: RxPDO
    6: TxPDO远程请求
    7: RxPDO远程请求
    8: SDO信息

EtherCAT Slave 入门教程 - SDO服务(1)

标签:报文   flags   gen   sla   ber   merge   eth   ali   protocol   

原文地址:https://www.cnblogs.com/salvare/p/11163657.html

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