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12.4.3.1 OD 1XXXh communication object group ··············································12-34
12.4.3.2 OD 2XXXh servo parameter group ····················································· 12-53
12.4.3.3 OD 6XXXh communication object group ··············································12-54
12.5 Diagnostics and troubleshooting ···································································· 12-96
13 EtherCAT Mode
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
13.4.3.3 OD 6XXXh communication object group ··············································13-55
13.5 Diagnostics and troubleshooting ···································································· 13-96
13.5.1 EtherCAT Diagnosis ·············································································· 13-96
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