Delta ASDA-A3 Series User Manual page 1058

ASDA-A3
The EtherCAT architecture of the servo drive is as follows:
 Communication profile: this protocol includes the communication objects (PDO, SDO,
SYNC, and Emergency object) and related communication object dictionary.
DS402 is the device profile for drives and motion control. It defines the behavior of each

operation mode and the required object parameter settings for execution.
EtherCAT network
Homing
mode
EtherCAT node
Communication profile
Drive Profile 402
Modes of operation
Profile Profile Profile
Position Velocity Torque
mode mode mode
Cyclic Cyclic
Synchronous Synchronous
Position mode Velocity mode
Motor
EtherCAT Mode
13
Cyclic
Synchronous
Torque mode
13-13