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<p>Just stumbled over this in the EtherCAT documentation:</p>
<p><br>
</p>
<p><i>6.4 Servo Profile over EtherCAT (SoE)<br>
The SoE protocol implements the Service Channel layer, specified
in IEC 61800-7 [16]<br>
via EtherCAT mailboxes.<br>
The SoE protocol is quite similar to the CoE protocol (see
section 6.2). Instead of SDO<br>
indices and subindices, so-called identification numbers (IDNs)
identify parameters.<br>
The implementation covers the “SCC Read” and “SCC Write”
primitives, each with<br>
the ability to fragment data.<br>
There are several ways to use the SoE implementation:<br>
• Reading and writing IDNs via the command-line tool (see
subsection 7.1.21).<br>
• Storing configurations for arbitrary IDNs via the application
interface (see chap-<br>
ter 3, i. e. ecrt_slave_config_idn()). These configurations are
written to the<br>
slave during configuration in PREOP state, before going to
SAFEOP.<br>
• The user-space library (see section 7.2), offers functions to
read/write IDNs in<br>
blocking mode (ecrt_master_read_idn(), ecrt_master_write_idn())</i></p>
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</p>
<p>Does it help for you?</p>
<p><br>
</p>
<p>Kind regards, <br>
Karl</p>
<p><br>
</p>
<div class="moz-cite-prefix">On 9/23/24 07:39, 호탄탐 wrote:<br>
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cite="mid:SE2P216MB221115AF1D16D98A1A0D8AA5FE6F2@SE2P216MB2211.KORP216.PROD.OUTLOOK.COM">
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Hello,</div>
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I have a slave with Modular Device Profile (MDP) type (a servo
drive), I have tried to map its pdo as a normal slave type, but
it doesn't work, EtherCAT state can't change to state to OP
mode. Does IGH EtherCAT master work for MDP slave type? If it
does, I would appreciate if someone provide an example. </div>
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Best regards,</div>
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Jin</div>
<br>
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<div class="moz-signature">-- <br>
<p><strong><code>
Karl Zeilhofer</code></strong><br>
<code><strong>
Design Mechatronischer Systeme</strong></code></p>
<p><code>
eMail: <a class="moz-txt-link-abbreviated" href="mailto:karl@zeilhofer.co.at">karl@zeilhofer.co.at</a> (<a
href="http://www.zeilhofer.co.at/official/doku.php?id=gpg-key">GPG-Verschlüsselung</a>)</code><br>
<code>
Tel: +43 660 6591574</code><code></code></p>
<hr>
<p><code></code></p>
<p><code>Mechatronik Karl Zeilhofer<br>
</code><code>Steinbach 13, 4562 Steinbach am Ziehberg, AUSTRIA</code><br>
<code><a href="http://zeilhofer.co.at">zeilhofer.co.at</a></code></p>
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