Estun EtherCAT Manuals

Estun EtherCAT Manuals

Manuals and User Guides for Estun EtherCAT. We have 1 Estun EtherCAT manual available for free PDF download: User Manual

Estun EtherCAT User Manual

Estun EtherCAT User Manual (143 pages)

Brand: Estun | Category: Servo Drives | Size: 3 MB

Table of Contents

Table of Contents
4
Chapter 1 Brief Introduction of Ethercat

6
- What Is Ethercat
  6
- Ethercat General Introduction
  6
- Product Introduction
  6
- Coe Terms
  7
- Data Type
  8
- Communication Specifications
  8
- LED Indicators
  9
Chapter 2 Installation and Connection

12
Chapter 3 Ethercat Communication

14
- Canopen over Ethercat Model
  14
- Ethercat Slave Information
  15
- Ethercat Network State Machine
  15
- PDO Mapping
  16
- Emergency Message
  18
Chapter 4 Network Synchronization Based on Distributed Clocks

19
Chapter 5 Cia402 Device Protocol

21
- Canopen over Ethercat(Coe) State Machine
  21
- Parameters for Device Control
  22
  - Controlword
    23
  - Statusword
    24
  - Shutdown_Option_Code
    26
  - Disable_Operation_Option_Code
    26
  - Quick_Stop_Option_Code
    27
  - Halt_Option_Code
    27
  - Fault_Reaction_Option_Code
    28
- Control Mode
  28
- Control Mode Parameters
  29
- Homing Mode
  30
  - Control Word
    31
  - State Word
    31
  - Parameters Related to Homing Mode
    31
  - Homing Method
    36
- Profile Velocity Mode
  42
  - Control Word
    42
  - State Word
    42
  - Parameters Related to Velocity Mode
    43
- Profile Position Mode
  47
  - Control Word
    48
  - State Word
    48
  - Parameters Related to Position Control
    48
  - Function Description
    52
- Interpolation Position Mode
  54
- Profile Torque Mode
  58
- Cyclic Synchronous Position Mode
  60
- Cyclic Synchronous Velocity Mode (Pronet-□□□EG-EC Only)
  61
- Cyclic Synchronous Torque Mode
  62
- Touch Probe Function
  63
- Torque Limit Function
  68
- Digital Input /Output
  69
- Absolute Encoder Setup(Fn010、Fn011)
  70
- Conversion Factors (Factor Group)
  71
- Related Parameters
  72
- Position Factor
  72
- Velocity Factor
  74
- Acceleration Factor
  75
Chapter 6 Ethercat Communication Example

77
Appendix A Object Dictionary

81
Appendix B Parameters

100
Appendix C Standard Wiring Examples

126
Appendix D Alarm Display

133

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