TABLE OF CONTENTS
CHAPTER 1: GENERAL INFORMATION......................................................................... 1
1.1
Introduction................................................................................................................. 1
1.2
Feature Summary....................................................................................................... 1
CHAPTER 2: SPECIFICATIONS ...................................................................................... 2
2.1
Power Supply Specifications ...................................................................................... 2
2.2
EtherCAT Specifications ............................................................................................ 2
2.3
EtherCAT (CoE) Command Speed ............................................................................ 3
CHAPTER 3: SELECT CONTROL METHOD ................................................................... 5
3.1
A Variety of Control Methods ..................................................................................... 5
3.2
EtherCAT, LAN, LOCAL, Serial or Analog Control .................................................... 5
3.2.1 Select Local (Front Panel) Mode .................................................................. 5
3.2.2 Select RS232/485, USB (Serial) or LAN Remote Mode............................... 6
3.2.3 Select EtherCAT Remote Mode ................................................................... 6
3.3
EtherCAT Interface Option Rear Panel View ............................................................. 7
3.4
EtherCAT Cable ......................................................................................................... 8
3.5
Power-up the EtherCAT Power Supply...................................................................... 8
3.6
View the MAC Addresses........................................................................................... 8
3.7
EtherCAT Reset ......................................................................................................... 8
CHAPTER 4: PROGRAMMING USING TWINCAT 3........................................................ 9
4.1
Establish TwinCAT Communication ........................................................................... 9
CHAPTER 5: ETHERCAT DATA STRUCTURE ..............................................................12
5.1
Programming / Monitoring Values Translation ......................................................... 12
5.2
Data Type ................................................................................................................. 13
5.3
Data Access ............................................................................................................. 15
5.4
Data Length (Number of SDOs/PDOs) .................................................................... 15
5.5
Parameters Range ................................................................................................... 15
5.6
Read / Write SDOs / PDOs ...................................................................................... 15
5.7
PDOs Mapping ......................................................................................................... 16
5.8
SDOs Mapping ......................................................................................................... 17
5.9
EtherCAT Unique Commands Structure .................................................................. 20
5.10
Sequencer Activation ............................................................................................... 25
