Communication Function; Specifications - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.2 Communication function

13.2.1 Specifications

13
EtherCAT
communication
functions
Supported CiA DS402 operation modes
13-12
Physical layer 100BASE-TX
Communication
RJ45 × 2
connector
Network topology Line connection
Baud rate 2 x 100 Mbps (full duplex)
Data frame length Maximum 1,484 bytes
SM0: mailbox output
SM1: mailbox input
SyncManager
SM2: process data output
SM3: process data input
FMMU0: process data output area
Fieldbus Memory
Management Units FMMU1: process data input area
(FMMU)
FMMU2: mailbox status area
Application layer
CoE: CANopen over EtherCAT
protocol
DC-Synchronous mode (SYNC0)
Synchronization mode
Asynchronous mode (Free Run)
SDO: Service data object
Communication object PDO: Process data object
EMCY: Emergency object
EtherCAT ERR × 1
LED indicator
EtherCAT Link / Activity (L/A) × 2
(On RJ45 connector)
EtherCAT RUN × 1
Application layer
IEC61800-7 CiA DS402 Drive Profile
specifications
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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
ASDA-A3