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TMS320f28388: EtherCAT SSC Example code for CiA402 slave: Why "modules"?

volker de Haas
Prodigy 210 points

(This is a cross post which is also posted in ECTG forum)

HI,
I'm new to EtherCAT and CiA402 and got lost in Details of the SSC generated example Code for a TI MPU. My understanding is that CiA402 is a profile and MDP (modular device profile) is a profile with a much different usage of the profile specific object idx area 6000h. The CiA402 exmaple code uses objects of the CiA402 defined indexes BUT it also defines "modules" for "slots". I would always think of "modules" and "slots" as physical slots of a backplane bus where you put 1 or more different modules in (like clamps of an IO device). But the example is using "modules" and "slots" for "software modules" assigned to each axis of a drive (in the case of the SSC example it generates thre modules for three of the CiA defined operating modes: csv, csp and a mixed csv/csp).
Is this usage of "modules" typical and is it in alignment with the IEC61800-7 standard?
When I look into the Beckhoff documentation for AX8000 modular drive, it seems they also use "modules" not for the ühysical modules (axis, power, brake, etc) because those physical modules are each a single EtherCAT Slave, But they seem to use "modules" for "slots" for operating modes too: e.g. "objects of module BiquadFilter" in the "Beckhoff Information System" under "Object dictionary"
"AX8xxx | Axis module".- This is somehow confusing and I'm puzzling around the definition of "slots" and "modules" in EtherCAT.Should we use them for our project when defining a new slave product?