Ethercat Mode - Delta ASDA-A3 Series User Manual

EtherCAT Mode

This chapter provides details for the required parameter settings when the servo
communicates with the controller through the EtherCAT communication function.
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
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