YASKAWA SGD7S-xxxDA0 series Product Manual page 422

EtherCAT
Communications
This chapter provides basic information on EtherCAT com-
munications.
13.1 EtherCAT Slave Information . . . . . . . . . . . 13-2
13.2 EtherCAT State Machine . . . . . . . . . . . . . . 13-3
13.3 EtherCAT (CoE) Communications Settings . .13-5
13.3.1 Normal Device Recognition Process
at Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5
13.3.2 Application Example . . . . . . . . . . . . . . . . . . . . . 13-5
13.3.3 Device Recognition with Station Aliases . . . . . . 13-5
13.4 PDO Mappings . . . . . . . . . . . . . . . . . . . . . 13-6
13.4.1 Setting Procedure for PDO Mappings . . . . . . . . 13-7
13.4.2 Default PDO Mappings . . . . . . . . . . . . . . . . . . . 13-7
13.5 Synchronization with Distributed Clocks . . 13-8
13.6 Emergency Messages . . . . . . . . . . . . . . . 13-11
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