User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
7 / 88
2 Communication
2.1 Reference Model
The application layer comprises a concept to configure and communicate real-time-data as well as the
mechanisms for synchronization between devices. The functionality which the application layer offers
to an application is logically divided over different service data objects (SDO) in the application layer. A
service object offers a specific functionality and all the related services.
Applications interact by invoking services of a service object in the application layer. To realize these
services this object exchanges data via the EtherCAT with peer service object(s) using a protocol.
The application and the application layer interact with service primitives.
Service Primitives
Primitive Definition
Request Issued by the application to the application layer to request a service.
Indication Issued by the application layer to the application to report an internal event detected by
the application layer or indicate that a service is requested.
Response Issued by the application to the application layer to respond to a previous received
indication.
Confirmation Issued by the application layer to the application to report the result of a previously
issued request.
Table 2: Service Primitives
A service type defines the primitives that are exchanged between the application layer and the cooperating
applications for a particular service of a service object. Unconfirmed and confirmed services are collectively
called remote services.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com