Econ EtherCAT EHS-580 User Manual page 3

SHENZHEN ECON TECHNOLOGY CO.,LTD
3.1 Input configuration ................................................................................................................................ 22
3.2 Output configuration ............................................................................................................................. 23
3.3 Related node ID ..................................................................................................................................... 24
3.4 Motor rotation direction setting ............................................................................................................. 24
3.5 Pulse/Revolution setting ........................................................................................................................ 24
4. Parameters ......................................................................................................................................................... 25
4.1 Parameter saving ................................................................................................................................... 25
4.2 Parameter reset ...................................................................................................................................... 25
4.3 Parameters list ....................................................................................................................................... 25
5. Basic Information Of EtherCAT ........................................................................................................................ 29
5.1 EtherCAT Data Frame Structure ................................................................................................................. 29
5.2 Synchronous Mode ....................................................................................................................................... 29
5.2.1 Random running mode ...................................................................................................................... 29
5.2.2 Distributed clock synchronization mode ........................................................................................... 29
5.2.3 EtherCAT state machine ................................................................................................................... 30
5.3 COE ............................................................................................................................................................. 30
5.3.1 Service data object (SDO) ................................................................................................................ 31
5.3.2 SDO protocol and message format ................................................................................................... 31
5.3.3 Suspend SDO transmission ............................................................................................................... 32
5.4 processing data object ................................................................................................................................. 34
5.4.1 PDO mapping ................................................................................................................................... 34
5.4.2 PDO dynamical mapping.................................................................................................................. 35
5.4.3 The difference of PDO and SDO ....................................................................................................... 35
Contact us: ................................................................................................................................................................. 36
User Manual For EHS-580 EtherCAT Hybrid Servo Drive