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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 .............................................................................. 26
7. Appendix Saving and Loading a Project ........................................ 37
7.1. Saving a Project ................................................................................. 37
7.2. Loading and Downloading a Project ................................................... 39
8. Appendix Using Safety Function .................................................... 42
8.1. Device Configuration .......................................................................... 42
8.2. Workflow ............................................................................................ 42
8.3. EtherCAT Coupler Unit Settings ......................................................... 44
8.4. Preparation for the Controller Setup ................................................... 56
8.5. Installation of ESI Files ....................................................................... 56
8.6. EtherCAT Communications Setup
...................................................... 56
8.7. Controller Settings .............................................................................. 67
9. Appendix Troubleshooting .............................................................. 68
9.1. Factors Causing EtherCAT Communications To Be Unavailable, and Corrective Actions
........................................................................................................... 68
9.2. How to Check for Errors ..................................................................... 69
10. Appendix ECAT[i] Structure Elements ........................................... 73
11. Revision History ............................................................................... 74
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