Table of Contents
Advertisement
5
EtherCAT communication
This part explains how to control via EtherCAT communication.
Table of contents
1
Guidance ................................................. 77
2
Communication specifications ........... 79
2-1 EtherCAT communication interface ......... 79
2-2 CiA402 drive profile ....................................... 79
2-3 EtherCAT State Machine (ESM) .................. 80
2-4 Process Data Objects (PDO) ........................ 80
2-5 Service Data Objects (SDO) ......................... 83
2-6 Synchronous mode of EtherCAT ............... 83
2-7 Distributed Clocks .......................................... 84
2-8 Emergency message ..................................... 84
3
Drive profile ............................................ 85
3-1 Drive state machine ....................................... 85
3-2 Operation modes ............................................ 88
(CSP) .................................................................... 88
3-4 Profile position mode (PP) ........................... 90
(CSV) ..................................................................101
3-6 Profile velocity mode (PV) .........................103
3-7 Homing mode (HM) .....................................105
4
Functions ...............................................118
4-1
Touch probe ...................................................118
4-2 Resolution .......................................................121
4-3 Wrap function ................................................122
4-4 Maintenance commands ...........................122
4-5 Assignment of I/O functions .....................123
5
Coordinates management .................133
management ..................................................133
5-2 Coordinate origin ..........................................136
5-3 Parameters related to ABZO sensor .......137
5-4 Mechanism settings parameter ...............138
coordinate parameters ...............................139
5-6 Mechanism limit ............................................143
5-7 Mechanism protection ...............................144
6
Torque limiting function ....................145
7
Saving parameters ..............................146
Advertisement
Table of Contents
