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EtherCAT protocol CiA301 VS CiA402

Posted: Fri Dec 07, 2018 9:56 am
by om_tech_support_MD
EtherCAT protocol CiA301 VS CiA402

Question: I want to use the AZD4A-KED multi axis driver with EtherCAT, but can’t run all 4 steppers at the same time because of the high amperage draw. Is there an alternative.

Responce: The CiA CANopen embedded network is a bus system used to link multiple devices on the same network. The CANopen application layer was designed for embedded machine control and uses standardized profiles for motion profiles. CANopen implements PDO protocols, process data objective. A PDO can have 1-8 bytes of information and is one CAN frame. There are two different types, TPDO and RPDO. TPDO is transmit process data objective. This data is in the 1800-19FF hex index. RPDO is receive process data objective. The receive process data objective index range is from 1400-15FF hex. Every vender implementing CANopen has a vender Id to identify their device. The Oriental Motor vender ID is 00 0002BE Hex.

The mapping of CiA301 and CiA402 are similar. The main difference between the two communication protocols is the amount of information you can send and receive. CiA 301 (EN 50325-4), implements 4 TPDOs and 4 RPDOs. CiA 402 (IEC 61800-7) implements 7 TPDOs and 8 RPDOs.

If you want multi axis with EtherCAT we offer a single axis driver with a network converter for EtherCAT. It is important to note that the single axis driver uses a different EtherCAT communication protocol.

For the NETC01-ECT network converter used on the single axis driver, the EtherCAT communication protocol uses CiA301
CIA301.png (65.94 KiB) Viewed 449 times

For the muti-axis AZD4A-KED with EtherCAT, the communication protocol is CiA402
CIA402.png (168.34 KiB) Viewed 449 times

Should you have any further questions please contact us at [email protected] or call at 1-800-GO VEXTA.