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EtherCAT Mode

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ASDA-A3

13

 X: unit selection for Target velocity (OD 60FFh) and Velocity actual value (OD 606Ch) when in the

PV (Profile Velocity) mode or CSV (Cyclic Synchronous Velocity) mode

0: 0.1 rpm

1: pulse/sec

 Z: AL185 communication disconnection detection setting

0: disconnection detection starts after EtherCAT communication enters OP state.

1: disconnection detection starts after EtherCAT communication enters Init state.

2: disable disconnection detection.

Note: when using the ring topology connection, set P3.018.Z to 2 to disable the disconnection detection.

 C: unit selection for the maximum speed of OD 607Fh and OD 6080h

0: 0.1 rpm for OD 607Fh and rpm for OD 6080h.

1: pulse/sec for OD 607Fh and OD 6080h.

P3.022

EtherCAT PDO timeout setting

Default: 0xFF04

Unit: -

Format: HEX

Address: 032CH

032DH

Control mode: EtherCAT

Setting range: 0x0002 - 0xFF14

Data size: 16-bit

Settings:

When using the PDO to transmit data periodically, use this parameter to set the timeout setting.

The following two sets of digits specify the trigger conditions for AL180 and AL3E3 respectively to

ensure that the servo drive receives the PDO. When one of the alarm occurs, it means the allowable

duration for packet loss exceeds the set range.

UZ YX

Digit

Function

Range

UZ

AL180 trigger condition

0x00 (disabled) - 0xFF (default)

YX

AL3E3 trigger condition

0x02 - 0x14

 YX: AL3E3 trigger condition (allowable cycle for elapsed time); applicable to CSP / CSV / CST

mode.

AL3E3 occurs when the servo drive does not receive the PDO within the set cycle.

When the communication cycle is 4 ms and you set this parameter to 0x02 (allow two cycles),

it means if the servo drive does not receive any PDO within 8 ms, AL3E3 occurs.

 UZ: AL180 trigger condition (allowable duration for elapsed time); applicable to all operation

modes.

AL180 occurs when the servo drive does not receive the PDO within the set duration (unit: ms).

For example, when you set P3.022.UZ to 0x01, the duration is 1 ms; when you set P3.022.UZ to

0x02, the duration is 2 ms; and when you set P3.022.UZ to 0xFF, the duration is 255 ms.

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