6. EtherCAT Settings
This section describes the specifications such as communication parameters and variables
that are set in this document.
Hereinafter, the Hivertec EtherCAT Slave for Motion Control is referred to as the "Destination
Device" or the "Slave Unit" in some descriptions.
6.1. EtherCAT Communications Parameter Settings
The communications parameter required connecting the Controller and the Destination
Device via EtherCAT is given below.
■ EtherCAT Slave for Motion Control
The node address used in EtherCAT
communications is "Slave ID set value + 1"
Precautions for Correct Use
The Destination Device does not support “Write Slave Node Address” of the Sysmac Studio.
To write a slave node address, you must make hardware settings as described in this
document.
6.2. Allocation for PDO Communications
The EtherCAT PDO communications data of the Destination Device are allocated to the
Controller's device variables. The device variables and the data types are shown below.
■ Output area (from Controller to Destination Device)
E001_Command_Area1_X_Command1_7000_01
Command data 1 (X) Bits 15 to 0
E001_Command_Area1_X_Command2_7000_02
Command data 1 (X) Bits 31 to 16
E001_Command_Area1_X_Command3_7000_03
Command data 1 (X) Bits 47 to 32
E001_Command_Area1_X_Command4_7000_04
Command data 1 (X) Bits 63 to 48
(Control word)
E001_Command_Area2_Y_Command1_7000_05
Command data 2 (Y) Bits 15 to 0
E001_Command_Area2_Y_Command2_7000_06
Command data 2 (Y) Bits 31 to 16
E001_Command_Area2_Y_Command3_7000_07
Command data 2 (Y) Bits 47 to 32
E001_Command_Area2_Y_Command4_7000_08
Command data 2 (Y) Bits 63 to 48
(Control word)
E001_Command_Area3_Z_Command1_7000_09
Command data 3 (Z) Bits 15 to 0
E001_Command_Area3_Z_Command2_7000_0A
Command data 3 (Z) Bits 31 to 16
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