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EtherCAT Mode

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ASDA-A3

13.1.3 Parameter settings of EtherCAT mode

13

Follow these instructions to connect the EtherCAT controller and the ASDA-A3 servo drive:

1. Set to EtherCAT mode: set P1.001.YX to 0C.

2. Set the slave station number: set P3.000 to 0x0001 - 0x007F.

3. It is suggested that you change the setting value of P3.012.Z from 0 (default) to 1 to enable

the non-volatile setting for the parameter. Note that the default E-Gear ratio varies with the

set value of P3.012.Z.

Settings

P3.012 = 0x0100 (Z = 1)

Servo

parameter

Default

P3.012 = 0x0000 (Z = 0)

OD

address

Default

Motor stop mode

P1.032

0x0000

605Bh

0

S-curve acceleration

constant

P1.034

200

6087h

Zero speed range

P1.038

100

(rotary*: 0.1 rpm;

linear*: 0.1 mm/s)

606Fh

E-Gear ratio -

numerator N1

P1.044

16777216

6093h

sub1

E-Gear ratio -

denominator M

P1.045

100000

6093h

sub2

Speed reached

(DO.SP_OK) range

P1.047

10

(rotary*: rpm;

linear*: mm/s)

606Dh

Accumulated time to

reach desired speed

P1.049

0

606Eh

Maximum speed limit

P1.055

Depending on the

motor

(rotary*: 1 rpm;

linear*: 1 mm/s)

607Fh

6080h

Excessive deviation

warning condition of

Position command

P2.035

50331648

6065h

Positive software limit

(PP / CSP / CSV / CST

mode)

P5.008

2147483647

607Dh

sub2

Negative software limit

(PP / CSP / CSV / CST

mode)

P5.009

-2147483648

607Dh

sub1

Origin definition

(HM mode)

P6.001

0

607Ch

Note: rotary means a permanent-magnet synchronous rotary motor;

linear means a permanent-magnet synchronous linear motor.

200

100

(0.1 rpm)

1

1

100

(0.1 rpm)

0

Depending on the motor

(0.1 rpm)

Depending on the motor

(rpm)

50331648

2147483647

-2147483648

0

13-8

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