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ASDA-A3

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EtherCAT Mode

P3.009

Communication synchronization

Address: 0312H

0313H

Default: 0x5055

Control mode: CANopen / EtherCAT

Unit: -

Setting range: Shown as follows

Format: HEX

Data size: 16-bit

Settings:

13

UZ YX

Digit

Function

Range

Z

Target value

(EtherCAT)

M, F, L: 0 to F

E: 0 to A

Z: when the servo is operating in the DC-Synchronous mode, you can adjust the timing of the servo

accessing EtherCAT packets to ensure that this timing is not conflict with the timing of the controller

sending the packets. The delay time in the following figure is (T/10) x Z (µs).

Sync0

Sync0

Sync0

Slave

delay

Cycle time (T) SM2 event

Slave App

delay

Cycle time (T) SM2 event

Slave App

P3.018

EtherCAT special function switch

Address: 0324H

0325H

Default: 0x00002000

Control mode: EtherCAT

Unit: -

Setting range: 0x00000000 - 0x00112211

Format: HEX

Data size: 32-bit

Settings:

High word

Low word

DCB A

Source setting for the content loaded to

A

the EtherCAT Station Alias Register

0x0012 after the servo drive is powered

on

B Reserved

C

Unit selection for the maximum speed of

OD 607Fh and OD 6080h

D Reserved

UZ YX

Unit selection for Target velocity

(OD 60FFh) and Velocity actual value

X

(OD 606Ch) when in the PV (Profile

Velocity) mode or CSV (Cyclic

Synchronous Velocity) mode

Y

Reserved

Z

AL185 communication disconnection

detection setting

U

Reserved

 A: source setting for the content loaded to the EtherCAT Station Alias Register 0x0012 after the

servo drive is powered on.

0: determined by the EtherCAT EEPROM station number field (ADR 0x0004) setting, which

needs to be set via the controller interface.

1: determined by the station number set with servo parameter P3.000.

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