EtherCAT Communication
‑112‑
Communication Control Parameters
Table 6–5 Communication control parameters
Parameter Parameter
Name
Value Range Decimal Address
U3‑16 Frequency
reference
–Maximum frequency to
+Maximum frequency
0.01 Hz
29456
U3‑17
Control
command
0000: Stop
according to the
stop mode
defined by F6‑10
0001: Run in
forward
direction
0002: Run in
reverse
direction
0003: Jog in
forward
direction
0004: Jog in
reverse
direction
0005: Coast to
stop
0006: Decelerate
to stop
0007: Reset
upon fault
29457
U3‑18
DO control Bit0: DO1 output control
Bit1: DO2 output control
Bit2: Relay 1 output control
Bit3: Relay 2 output control
29458
U3‑19
AO1 control 0 to 7FFF, indicating 0% to 100%
29459
U3‑20
AO2 control 0 to 7FFF, indicating 0% to 100%
29460
U3‑21
FMP control 0 to 7FFF, indicating 0% to 100%
29461
U3‑22
Reserved Reserved
U3‑23
Speed control Signed data, 1 RPM
29463
Each object within the dictionary shall be addressed uniquely by using an index and
sub‑index.
The index (hexadecimal) specifies the position of the same type of objects in the
dictionary.
The sub‑index specifies the offset of each object in the same index in hexadecimal
format.
The mapping between AC drive parameters and object dictionary indexes is as
follows:
Object dictionary index = 0x2000 + Parameter group number
Object dictionary sub‑index = Hexadecimal value of offset in parameter group + 1
When the MD500‑ECAT card is used, the written PDO1 and PDO2 are mapped to U3‑17
and U3‑16 respectively by default. Therefore, ensure that the first entry of RPDO is U3‑
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