Content
Chapter 1 Brief introduction of EtherCAT............................................................... 1
1.1 What is EtherCAT......................................................................................... 1
1.2 EtherCAT general introduction ..................................................................... 1
1.3 Product introduction...................................................................................... 1
1.4 CoE terms..................................................................................................... 2
1.5 Data type....................................................................................................... 3
1.6 Communication specifications...................................................................... 3
1.7 LED indicators............................................................................................... 4
Chapter 2 Installation and connection..................................................................... 7
2.1 Installation and connection ........................................................................... 7
2.2 EtherCAT interface specification .................................................................. 7
2.3 Wire specification.......................................................................................... 8
Chapter 3 EtherCAT communication....................................................................... 9
3.1 CANopen over EtherCAT model................................................................... 9
3.2 EtherCAT slave information........................................................................ 10
3.3 EtherCAT network state machine............................................................... 10
3.4 PDO mapping ............................................................................................. 11
3.5 Emergency message.................................................................................. 13
Chapter 4 Networksynchronizationbased ondistributedclocks ................................ 14
Chapter 5 CiA402 device protocol ......................................................................... 16
5.1 CANopen over EtherCAT(CoE) state machine .......................................... 16
5.2 Parameters for device control..................................................................... 17
5.2.1 controlword....................................................................................................18
5.2.2 statusword.....................................................................................................19
5.2.3 shutdown_option_code..................................................................................21
5.2.4 disable_operation_option_code.....................................................................21
5.2.5 quick_stop_option_code................................................................................22
5.2.6 halt_option_code...........................................................................................22
5.2.7 fault_reaction_option_code ...........................................................................23
5.3 Control mode .............................................................................................. 23
5.4 Control mode parameters........................................................................... 24
5.5 Homing mode.............................................................................................. 25
5.5.1 Control word..................................................................................................26
5.5.2 State word .....................................................................................................26
5.5.3 Parameters related to homing mode .............................................................26
5.5.4 Homing method.............................................................................................31
5.6 Profile velocity mode................................................................................... 37
5.6.1 Control word..................................................................................................37
5.6.2 State word .....................................................................................................37
5.6.3 Parameters related to velocity mode.............................................................38
5.7 Profile position mode .................................................................................. 42
5.7.1 Control word..................................................................................................43
