SMC Networks LECSN-T Series User Manual

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17.4.1 Station JOG operation .............................................................................................................. 17-14
17.4.2 JOG operation .......................................................................................................................... 17-16
18. EtherCAT COMMUNICATION 18- 1 to 18- 206
18.1 EtherCAT COMMUNICATION .................................................................................................... 18-3
18.1.1 Summary ................................................................................................................................ 18-3
18.1.2 Function list ............................................................................................................................ 18-6
18.1.3 Communication specifications ............................................................................................... 18-9
18.1.4 Communication specifications ............................................................................................. 18-10
18.1.4.1 Communication status .................................................................................................... 18-10
18.1.4.2 EtherCAT state ................................................................................................................ 18-11
18.1.4.3 Startup ............................................................................................................................. 18-12
18.1.4.4 Network disconnection procedure ................................................................................... 18-13
18.1.5 Summary of object dictionary (OD) ...................................................................................... 18-14
18.1.5.1 Section definition of object dictionary .............................................................................. 18-14
18.1.5.2 Saving object dictionary data to EEP-ROM..................................................................... 18-14
18.2 EtherCAT NETWORK CARD (LEC-S-NE) ............................................................................... 18-15
18.2.1 Specifications ....................................................................................................................... 18-15
18.2.2 Parts identification ................................................................................................................ 18-16
18.2.3 LED indication ...................................................................................................................... 18-16
18.2.3.1 LED indication definition .................................................................................................. 18-16
18.2.3.2 LED indication list ............................................................................................................ 18-17
18.2.4 Connecting Ethernet cable ................................................................................................. 18-18
18.3 PDO (PROCESS DATA OBJECT) COMMUNICATION ........................................................... 18-19
18.3.1 PDO communication cycle ................................................................................................... 18-19
18.3.2 PDO setting-related object ................................................................................................... 18-19
18.3.3 PDO default mapping........................................................................................................... 18-20
18.3.4 PDO variable mapping ......................................................................................................... 18-22
18.3.5 Mapping-necessary objects ................................................................................................. 18-23
18.4 SDO (SERVICE DATA OBJECT) COMMUNICATION............................................................. 18-25
18.4.1 SDO communication-related service ................................................................................... 18-25
18.4.2 SDO Abort Code .................................................................................................................. 18-26
18.5 CiA 402 DRIVE PROFILE ......................................................................................................... 18-26
18.5.1 FSA state ............................................................................................................................. 18-26
18.5.2 Controlword/Control DI ........................................................................................................ 18-29
18.5.2.1 Bit definition of Controlword ............................................................................................ 18-29
18.5.2.2 Bit definition of Control DI ............................................................................................... 18-30
18.5.3 Statusword/Status DO ......................................................................................................... 18-32
18.5.3.1 Bit definition of Statusword .............................................................................................. 18-32
18.5.3.2 Bit definition of Status DO ............................................................................................... 18-33
18.5.4 Control mode ....................................................................................................................... 18-37
18.5.4.1 Selecting control mode (Modes of operation) ................................................................. 18-37
18.5.4.2 Control switching ............................................................................................................. 18-37
18.5.4.3 Cyclic synchronous position mode (csp) ......................................................................... 18-38
18.5.4.4 Cyclic synchronous velocity mode (csv).......................................................................... 18-41
18.5.4.5 Cyclic synchronous torque mode (cst) ............................................................................ 18-43
18.5.4.6 Profile position mode (pp) ............................................................................................... 18-45
18.5.4.7 Profile velocity mode (pv) ................................................................................................ 18-49
18.5.4.8 Profile torque mode (tq) .................................................................................................. 18-53

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English