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4 EtherCAT Network
Communication
4.1 Communication Overview ··························································· 4-2
4.1.1 Communication with Master Device·········································· 4-2
4.1.2 Communication between SC-HG1-ETC and Controller ················· 4-3
4.2 Memory Allocation ····································································· 4-4
4.2.1 Object Dictionary ·································································· 4-4
4.2.2 PDO Mapping ······································································ 4-6
4.3 Command Transmission Procedure ·············································· 4-11
4.3.1 Read Command ··································································· 4-11
4.3.2 Write Command ··································································· 4-15
4.4 Command List ·········································································· 4-17
4.4.1 HG-S Series Command List ···················································· 4-17
4.4.2 HG-T Series Command List ···················································· 4-22
4.5 Reading Received Light Waveforms ·············································· 4-33
4.5.1 Format of Received Light Waveform ········································· 4-33
4.5.2 Reading Measured Waveforms ··············································· 4-35
4.5.3 Reading Reference Waveforms ··············································· 4-38
4.6 Registering Reference Waveforms ················································ 4-41
4.7 Self-monitoring Function ····························································· 4-46
4.7.1 Using the Self-monitoring Function··········································· 4-46
4.7.2 Statuses and Measures ························································· 4-47
4.8 Other Precautions ····································································· 4-49
4-1
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