Ethercat Communications - YASKAWA SGD7S-1R9D Product Manual

EtherCAT
Communications
This chapter provides basic information on EtherCAT com-
munications.
12.1 EtherCAT Slave Information . . . . . . . . . . . 12-2
12.2 EtherCAT State Machine . . . . . . . . . . . . . . 12-3
12.3 EtherCAT (CoE) Communications Settings . .12-5
12.3.1 Normal Device Recognition Process
at Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5
12.3.2 Application Example . . . . . . . . . . . . . . . . . . . . . 12-5
12.3.3 Device Recognition with Station Aliases . . . . . . 12-5
12.4 PDO Mappings . . . . . . . . . . . . . . . . . . . . . 12-6
12.4.1 Setting Procedure for PDO Mappings . . . . . . . . 12-7
12.4.2 Default PDO Mappings . . . . . . . . . . . . . . . . . . . 12-7
12.5 Synchronization with Distributed Clocks . . 12-8
12.6 Emergency Messages . . . . . . . . . . . . . . . 12-11
12