Chapter 7 EtherCAT Communication
• Torque limiting setting: Select the torque limiting channel according to the function code object dictionary
2006.0Dh(P06.12 positive torque limiting channel) and 2006.0Eh(P06.13 negative torque limiting channel), the
default bus torque limiting channel, use the maximum torque 6072h, positive torque limiting 60E0h, negative
torque limiting 60E1h smaller value to set the positive and negative torque limiting value, or set the internal torque
limiting channel, then the torque limiting is set according to the function code object dictionary 2006.0Fh(P06.14
• The position deviation is too large: When the position deviation 60F4h of the user unit is greater than 6065h, the
fault is set, and the bit13 of the status word 6041h is set to 1.
• When the synchronization period is inconsistent with the data period, set the data interpolation period 2014h.0b.
• Instruction polarity 0x607E: Torque, speed, position instruction logic is set according to the bit corresponding to
the object dictionary 0x607E.
Torque
instruction
polarity
Torque instruction positive logic
Torque instruction inverse logic
Speed instruction positive logic
Speed instruction inverse logic
Position
instruction
polarity
Position instruction positive logic
Position instruction inverse logic
7.4.5.4 Basic configuration
The following table describes the basic configuration of objects in Cyclic Synchronous Position Mode (CSP).
Optional, you can configure it as an SDO
parameter.
7.4.6 Cyclic Synchronous Velocity Mode
In this mode, the master station periodically synchronizes the calculated target speed to the slave station drive,
and the slave station drive executes the target speed given by the master station. The interpolation period is the
same as the synchronization signal period.
7.4.6.1 Common object
The following table lists the objects related to this mode.
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