Dc-Based Network Synchronization; Cia402 Device Protocol - INVT Goodrive350 Series Operation Manual

Communication extension card
Index
1C13h
1C13h
1C13h
Index
1A00h
1A01h
1A02h
1A03h
Default PDO mapping (Position, Velocity, Torque, Torque limit, Touch probe):
Control
RxPDO word
(0x1600) (0x6040
)
Statusw
TxPDO ord
(0x1A00) (0x6041
)

6.4.5 DC-based network synchronization

The DC (distributed clock) can enable all EtherCAT devices to use the same system time so
as to control the synchronous execution of all device tasks. In the EtherCAT network, the clock
with the DC function of the first slave station connected to the master station is used as the
reference clock across the network. The other slave stations and master station use this
reference clock for synchronization.
Free-Run: The running cycle and communication cycle of each servo drive are not related to
the communication cycle of the master station.
DC Mode: The servo drive performs synchronization through Sync0 of the master station.

6.5 CiA402 device protocol

The master station controls the drive through the control word (0x6040) and obtains the
Object dictionary
Sub-
Object content
index
0 0x02
1 0x1A00
2 0x1A01
Object content
PDO_1
PDO_2
PDO_3
PDO_4
Figure 6-6 SM PDO assignment
Target Target
Position Velocity
(0x607A) (0x60FF)
Position Speed
Actual Actual
Value Value
(0x6064) (0x606C)
1C13h
Target Max.
Torque Torque
(0x6071) (0x6072)
Following
Torque
Error
Actual
Actual
Value
Value
(0x6077)
(0x60F4)
-86-
EtherCAT communication card
PDO_1 PDO_2
Mode of Profile
Operation velocity
(0x6060) (0x6081)
Mode of
Operation Error Code
Display (0x603F)
(0x6061)
Touch
Probe
Function
(0x60B8)
Touch
Probe
Value
(0x60BA)