CONTENTS
5-6
5-6-1
5-7
Section 6
Process Data Communications and SDO
Communications
6-1
6-1-1
6-1-2
6-1-3
6-1-4
6-1-5
6-2
SDO Communications........................................................................................................... 6-21
6-2-1
EtherCAT Instructions ............................................................................................................... 6-21
6-2-2
Sample Programming ............................................................................................................... 6-22
6-2-3
6-2-4
6-3
6-3-1
EtherCAT Instructions ............................................................................................................... 6-28
Section 7
System-defined Variables That Are Related to
the Built-in EtherCAT Port
7-1
System-defined Variables That Are Related to the Built-in EtherCAT Port........................ 7-2
7-1-1
7-1-2
System-defined Variables ........................................................................................................... 7-3
7-1-3
Section 8
8-1
Example of Operations for EtherCAT Communications ...................................................... 8-2
8-1-1
8-1-2
Wiring and Settings ..................................................................................................................... 8-2
8-1-3
8-1-4
Programming............................................................................................................................... 8-5
8-1-5
Offline Debugging ....................................................................................................................... 8-5
8-1-6
Turning the Power ON ................................................................................................................ 8-5
8-1-7
Online Debugging ....................................................................................................................... 8-5
8-1-8
8-1-9
Section 9
9-1
Overview of Errors .................................................................................................................. 9-2
9-1-1
How to Check for Errors.............................................................................................................. 9-3
9-1-2
9-2
Troubleshooting .................................................................................................................... 9-10
9-2-1
Error Table................................................................................................................................. 9-10
9-2-2
Error Descriptions ..................................................................................................................... 9-16
9-2-3
Resetting Errors ........................................................................................................................ 9-48
9-2-4
10