Estun Summa Series - Chapter 12 Appendix; Parameters Detailed; Alarms Displays

Summa Series Servodrive Product Manual
EtherCAT Communications
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
5-8
 Free-Run (ESC register0x981: 0x980 = 0x0000)
In Free-Run mode, the local cycle is independent from the communications cycle and master cycle.
 DC Mode (ESC register0x981: 0x980 = 0x0300)
In this mode, the Drive is synchronized with the host controller (master) on the Sync0 event.
The following figure gives a timing chart for DC synchronization.
Frame U
Master application task
Master application task
Frame U
Master user
shift time
Master application task
Frame U
U
Sync 0 shift time
UU
Cycle time (1C32-02h)
Sync 0
event
Shift time (1C33-03h)
U
Cycle time (1C32-02h) Cycle time (1C32-02h)
Shift time (1C33-03h)
Network
Master
Slave
Input Latch Output Valid
Sync 0
event
Sync 0
event
NOTE: Only the object 1C33-03h can be set.
5.4 Communication Indication
5.4.1 Indicator Lamps on Panel Operator
There are 3 indicator lamps on the panel Operator of the Drive to indicate the communication status of
EtherCAT: SYS, RUN and ERR.
M ▲ ▼ ◀
SYS: System indicator lamp
RUN: Running indicator lamp
ERR: Error indicator lamp
SYS RUN ERR
POWER
SYS Indicator
The SYS indicator shows the system status of EtherCAT communications.
Indicator
Description
Status
Pattern
Off
Never lit
No power supplied or EtherCAT is resetting
Blinking
1s 1s
OFF
ON
EtherCAT is booting
On
Always lit
Initialization is complete and EtherCAT is
operating normally