Delta EtherCAT User Manual

March, 2017 7-1
EtherCAT CoE Standard
Communication
This chapter introduces the use of API for CoE (CANopen over EtherCAT) standard
communication. EtherCAT protocol allows issuing SDO or PDO command to the Slave
directly via CoE standard communication.
7
7.1 _ECAT_Slave_SDO_Send_Message ····················································· 7-3
7.2 _ECAT_Slave_SDO_Read_Message····················································· 7-4
7.3 _ECAT_Slave_SDO_Quick_Send_Message ··········································· 7-5
7.4 _ECAT_Slave_SDO_Quick_Read_Message ··········································· 7-6
7.5 _ECAT_Slave_SDO_Read_Response ··················································· 7-7
7.6 _ECAT_Slave_SDO_Wait_All_Done ······················································ 7-8
7.7 _ECAT_Slave_SDO_Get_ErrorCode ····················································· 7-9
7.8 _ECAT_Slave_SDO_Check_Done ······················································ 7-11
7.9 _ECAT_Slave_PDO_Get_OD_Data ···················································· 7-12
7.10 _ECAT_Slave_PDO_Set_OD_Data ··················································· 7-13
7.11 _ECAT_Slave_PDO_Get_Information ················································· 7-14
7.12 _ECAT_Slave_PDO_Get_Detail_Mapping ··········································· 7-15
7.13 _ECAT_Slave_PDO_Get_Rx_Data ···················································· 7-16
7.14 _ECAT_Slave_PDO_Get_Tx_Data ···················································· 7-17
7.15 _ECAT_Slave_PDO_Set_Tx_Data ···················································· 7-18
7.16 _ECAT_Slave_PDO_Set_Tx_Detail_Data ··········································· 7-19

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English