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SHENZHEN ECON TECHNOLOGY CO.,LTD
6082+00
Start-stop speed
6083+00
Trapezoidal Acc
6084+00
Trapezoidal Dec
6085+00
Dec for E-stop
6098+00
Homing research mode
6099+01
Homing research speed
6099+02
Homing research speed
609A+00
Homing research Acc
60F4+00
Position following error
60FD+00
Input status
60FF+00
Target speed
5. Basic Information Of EtherCAT
5.1EtherCATData Frame Structure
EtherCAT transmit the data with the network data frame; the fixed frame type is 0x88A4. It includes two bytes of
EtherCAT frame header and 44~1498 bytes of EtherCAT data. The EtherCAT data field consists of one or some
EtherCAT sub messages, each message is corresponding to a storage area of the slave station.
Frame structure
Target address
Source address
EtherCAT frame header: data length
EtherCAT frame header type
FCS
5.2 Synchronous Mode
5.2.1 Random running mode
At this mode, the drive adopt asynchronous mode to process the processing data from master, it is suitable for
asynchronous operation mode only, such as HM mode, PP mode.
5.2.2 Distributed clock synchronization mode
After the master sending the processing data , the slave station receive and read the processing data immediately, at
User Manual For EHS-580 EtherCAT Hybrid Servo Drive
R/W
The start and stop speed at PP mode
R/W
R/W
R/W
Dec for E-stop，it is enabled or disabled depend on the value of
R/W
R/W
Speed for researching limit switch
R/W
R/W
R
R
bit0：limit-，bit1：limit+，bit2：homing
R/W
EtherCAT the total length of all sub messages in the data field
1: communication with slave stations; others are reserved
Trapezoidal Acc
Trapezoidal Dec
605A
Homing research mode
Speed for researching homing
Acc of Homing research
Position following error
The max speed at PV mode
Definition
MAC address of Receiver
MAC address of Sender
The Frame check
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