CoE access via PROFINET
Description
CoE means Can over EtherCAT. It enables access to all parameters of an EtherCAT device. The CoE data model is based on the principles of CANopen and uses index and subindex for reading from and writing to parameters, if the corresponding access is enabled.
Further information can be found here: System Documentation
Task
Parameters of an EtherCAT device can generally be set and parameterized via the parameters of the GSDML file. However, in some applications it is necessary to change certain parameters at runtime or to carry out optimizations during operation.
Solution
The CoE data are sent via acyclic PROFINET services (PROFINET index 0x200F). The position of the EtherCAT device is specified via the slot number. The CoE data are then entered in the record data. During reading they consist of CoE index and CoE subindex, during writing they consist of CoE index, CoE subindex and the data to be sent.
 | Observe data format During reading and writing, observe the data size and the format of the corresponding SDO parameters. We recommend reading the SDO data first, then interpret them and use the read data format also for writing the CoE data (perhaps swap High/Low BYTE/WORD). |