Chapter 1 Coe Drive Overview; Communication Specification - Delta ASDA A2-E User Manual

Chapter 1 CoE Drive Overview

1.1 Communication Specification

EtherCAT
Communication
The supported CiA402 operation
modes
Revision April, 2015
Physical layer
Communication
connector
Network topology
Baud rate
Frame data length
SyncManager
FMMU
(Fieldbus Memory
Management Units)
Device profile
Synchronization
mode
Communication
object
LED indicator
(On RJ45
Connector)
Application layer
specifications
100BASE-TX
RJ45 × 2 (Connector CN6A=IN, CN6B=OUT)
Line connection
2 x 100 Mbps (full duplex)
Maximum 1484 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 synchronization ( SYNC0 )
Non- synchronized ( Free Run )
SDO: Service Data Object
PDO: Process Data Object
EMCY: Emergency Data Object
EtherCAT ERR (ER) × 1
EtherCAT Link/Activity (L/A) × 2
EtherCAT RUN (RN) × 1
IEC61800-7 CiA402 Drive Profile
Profile Position Mode (PP)
Profile Velocity Mode (PV)
Profile Torque Mode (PT)
Homing Mode (HM)
Interpolated Position Mode(IP)
Cycle Synchronized Position Mode (CSP)
Cycle Synchronized Velocity Mode (CSV)
Cycle Synchronized Torque Mode (CST)
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