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EtherCAT Mode
13
This chapter provides details for the required parameter settings when the servo
communicates with the controller through the EtherCAT communication function.
13.1 Basic configuration ········································································· 13-3
13.1.1 Hardware configuration ····························································· 13-3
13.1.2 ESI file import ·········································································13-7
13.1.3 Parameter settings of EtherCAT mode··········································13-8
13.2 Communication function ·································································13-12
13.2.1 Specifications·········································································13-12
13.2.2 Synchronization mode ·····························································13-14
13.2.2.1 Synchronization modes of the servo drive ······························13-14
13.2.2.2 Select Synchronization mode ··············································13-15
13.2.2.3 Distributed clocks setting ····················································13-15
13.2.3 EtherCAT state machine···························································13-16
13.2.4 PDO mapping configuration ······················································13-18
13.2.4.1 Default PDO mapping configuration ······································13-18
13.2.4.2 Set PDO mapping ·····························································13-20
13.2.4.3 PDO mapping object ·························································13-21
13.2.4.4 SDO abort codes ······························································13-22
13.3 EtherCAT operation modes ·····························································13-23
13.3.1 Profile Position mode·······························································13-23
13.3.2 Profile Velocity mode ·······························································13-28
13.3.3 Profile Torque mode ································································13-30
13.3.4 Homing mode ········································································13-32
13.3.5 Cyclic Synchronous Position mode ·············································13-34
13.3.6 Cyclic Synchronous Velocity mode ·············································13-36
13.3.7 Cyclic Synchronous Torque mode···············································13-38
13.3.8 Touch Probe function and Touch Probe status ·······························13-40
13.4 Object dictionary···········································································13-45
13.4.1 Specifications for objects ··························································13-45
13.4.2 List of objects·········································································13-46
13.4.3 Details of objects ····································································13-48
13.4.3.1 OD 1XXXh communication object group ································13-48
13.4.3.2 OD 2XXXh servo parameter group ·······································13-54
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13-1