EtherCAT Communication Card: CMM-EC02/ CMM-EC03
CMM-EC02/ CMM-EC03 Operation Manual
Table of Contents
1. Introduction ................................................................................................................................ 6
1.1 Network Functions and Specifications ..................................................................................... 6
1.2 Product Appearance .................................................................................................................. 7
1.2.1 Panel Cut Out Dimensions .............................................................................................. 7
1.2.2 Components .................................................................................................................... 7
1.3 LED Indicators ......................................................................................................................... 8
1.4 RJ45 PIN Definition ................................................................................................................. 8
1.5 Application ............................................................................................................................... 8
1.5.1 Applicable firmware version and supporting mode ........................................................ 8
2. Installation and Wiring ............................................................................................................... 9
2.1 Mounting Position of Communication Card ............................................................................ 9
2.2 Install and Remove Option Cards .......................................................................................... 10
2.2.1 Communication Cable and Grounding .......................................................................... 10
Communication Cable ............................................................................................................ 10
Grounding ............................................................................................................................... 11
2.2.2 MS300 Installation ........................................................................................................ 13
MS300 Mounting Position 1 (See Section 2.1 for Details on Mounting Position) Frame A-F13
2.2.3 MH300 Installation ....................................................................................................... 13
MH300 Mounting Position 1 (See Section 2.1 for Details) – Frame A – I ............................ 13
2.3 Network Connection ................................................................................................................. 17
2.4 MH300 / MS300 Drive Settings............................................................................................. 17
2.5 ESI (EtherCAT Slave Information) ........................................................................................ 17
3. Introduction to EtherCAT......................................................................................................... 18
3.1 Protocol .................................................................................................................................. 18
3.2 EtherCAT State Machine ........................................................................................................ 19
3.3 Dynamic Recognition ............................................................................................................ 20
4. System Setup ........................................................................................................................... 21
4.1 Asynchronous ......................................................................................................................... 21
4.2 PDO mapping configuration .................................................................................................. 22
4.2.1 Default PDO mapping configuration ............................................................................ 22
4.2.2 Set PDO mapping ......................................................................................................... 23
5. CiA402 equipment regulation .................................................................................................. 24
5.1 CANopen over Ethernet (CoE) State Machine ...................................................................... 24
5.2 EtherCAT Operation Mode .................................................................................................... 26
5.2.1 Velocity Mode ............................................................................................................... 26
6. Communication Warning / Fault Table.................................................................................... 28
6.1 Motor drive warning / fault table ........................................................................................... 28
6.2 SDO Abort Code .................................................................................................................... 29
To Next Page
