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4
EtherCAT
Estructura de frames de Ethernet y EtherCAT
El diagrama muestra la estructura de frames de Ethernet y EtherCAT con el protocolo "CANopen over
EtherCAT (CoE)".
Ethernet Header
EtherCAT Frame Header
14 Byte
Ether type:
Type:
0x88A4 =EtherCAT
4= Process data communication
5= Mailbox communication
Process Data Frame Header
Mailbox Header
6 Byte
Type:
0x03= CoE
Fig. 4.3
Estructura de frames de Ethernet y EtherCAT
Festo – EMCA-EC-C-CO-ES – 2017-11c – Español
Ethernet Frame [IEEE 802.3]
EtherCAT Frame [ETG]
2 Byte
Standard CANopen PDO Frame
12 Byte
PDO Header
CoE Header
2 Byte
Service:
0x01= Emergency
0x02= SDO request
0x03= SDO response
0x08= SDO Information
Error Code
2 Byte
SDO control
1 Byte
SDO Info Header
2 Byte
EtherCAT Protocol Data
... Byte
Process Data Frame
Process Data Object Frame
1st Process Data
... Byte
PDO (PDO Mapping: 1600
8 Byte
Mailbox Frame
CoE Frame
Emergency Frame
Standard CANopen Emergency Frame
Error Register
1 Byte
SDO Request Frame/SDO Response Frame
Standard CANopen SDO Frame
Index
Subindex
2 Byte
4 Byte
SDO Information Frame
SDO Info Service Data
Ethernet FCS
4 Byte
/1A00
)
h
h
... Byte
CoE Data
... Byte
Data
1 ... 5 | 6 ... n Byte
Data
1 ... 4 | 5 ... n Byte
... Byte
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