Delta ASDA-A3 Series User Manual page 20

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