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Contents
1. Related Manuals .................................................................................. 4
2. Terms and Definitions ......................................................................... 5
3. Precautions .......................................................................................... 6
4. Overview ............................................................................................... 7
5. Applicable Devices and Device Configuration ................................. 8
5.1. Applicable Devices ................................................................................ 8
5.2. Device Configuration ............................................................................. 9
6. EtherCAT Connection Procedure .................................................... 10
6.1. Workflow .............................................................................................. 10
6.2. Preparation for the Controller Setup.................................................... 12
6.3. Installation of ESI Files ........................................................................ 17
6.4. EtherCAT Communications Setup ....................................................... 18
6.5. Controller Settings ............................................................................... 27
7. Appendix Saving and Loading a Project ........................................ 39
7.1. Saving a Project ................................................................................... 39
7.2. Loading and Downloading a Project.................................................... 41
8. Appendix Troubleshooting ............................................................... 44
8.1. Factors Causing EtherCAT Communications To Be Unavailable, and Corrective Actions
............................................................................................................. 44
8.2. How to Check for Errors ...................................................................... 45
9. Appendix ECAT[i] Structure Elements ............................................ 48
10. Revision History ................................................................................ 49
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