邮箱服务数据帧
帧结构
- EtherCAT子报文:
数据:
邮箱协议数据:
Mailbox Data:
SDO:
- 描述
- Mailbox Header: 6 octets
- Length:2 octets, 指定Mailbox Data的字节数
- 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
Flags: 2 octets
field size detail channel 6 bits 0(reserved) priority 2 bits 0: lowest
...
3: highesttype 4 bits mailbox data type counter 3 bits counter of mailbox services
1~7reserved 1 bits 0
- Mailbox Data: x~1480 octets
- CoE Header: 2 octets
- SDO: 8~1478 octets
- SDO Header: 4 octets
- SDO Data: 4~1474 octets
SDO服务
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 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