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EtherCAT Mode

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ASDA-A3

13.2 Communication function

13

13.2.1 Specifications

Physical layer

Communication

connector

Network topology

Baud rate

Data frame length

SyncManager

EtherCAT

communication

functions

Fieldbus Memory

Management Units

(FMMU)

Application layer

protocol

Synchronization mode

Communication object

LED indicator

(On RJ45 connector)

Application layer

specifications

Supported CiA DS402 operation modes

100BASE-TX

RJ45 × 2

Line connection

2 x 100 Mbps (full duplex)

Maximum 1,484 bytes

SM0: mailbox output

SM1: mailbox input

SM2: process data output

SM3: process data input

FMMU0: process data output area

FMMU1: process data input area

FMMU2: mailbox status area

CoE: CANopen over EtherCAT

DC-Synchronous mode (SYNC0)

Asynchronous mode (Free Run)

SDO: Service data object

PDO: Process data object

EMCY: Emergency object

EtherCAT ERR × 1

EtherCAT Link / Activity (L/A) × 2

EtherCAT RUN × 1

IEC61800-7 CiA DS402 Drive Profile

 Profile Position (PP) mode

 Profile Velocity (PV) mode

 Profile Torque (PT) mode

 Homing (HM) mode

 Cyclic Synchronous Position (CSP) mode

 Cyclic Synchronous Velocity (CSV) mode

 Cyclic Synchronous Torque (CST) mode

13-12

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