SMC Networks LECSN-T Series User Manual

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18．EtherCAT COMMUNICATION
18 EtherCAT COMMUNICATION ..................................................................................................................3
18.1 EtherCAT COMMUNICATION .......................................................................................................3
18.1.1 Summary ....................................................................................................................................3
18.1.2 Function list ...............................................................................................................................6
18.1.3 Communication specifications ..................................................................................................9
18.1.4 Communication specifications ................................................................................................10
18.1.4.1 Communication status .....................................................................................................10
18.1.4.2 EtherCAT state ................................................................................................................11
18.1.4.3 Startup ..............................................................................................................................12
18.1.4.4 Network disconnection procedure ...................................................................................13
18.1.5 Summary of object dictionary (OD) ........................................................................................14
18.1.5.1 Section definition of object dictionary .............................................................................14
18.1.5.2 Saving object dictionary data to EEP-ROM ...................................................................14
18.2 EtherCAT NETWORK CARD (LEC-S-NE) ...................................................................................15
18.2.1 Specifications ...........................................................................................................................15
18.2.2 Parts identification ..................................................................................................................16
18.2.3 LED indication .........................................................................................................................16
18.2.3.1 LED indication definition ................................................................................................16
18.2.3.2 LED indication list ...........................................................................................................17
18.2.4 Connecting Ethernet cable ......................................................................................................18
18.3 PDO (PROCESS DATA OBJECT) COMMUNICATION ..............................................................19
18.3.1 PDO communication cycle ......................................................................................................19
18.3.2 PDO setting-related object ......................................................................................................19
18.3.3 PDO default mapping ..............................................................................................................20
18.3.4 PDO variable mapping ............................................................................................................22
18.3.5 Mapping-necessary objects .....................................................................................................23
18.4 SDO (SERVICE DATA OBJECT) COMMUNICATION ..............................................................25
18.4.1 SDO communication-related service ......................................................................................25
18.4.2 SDO Abort Code .......................................................................................................................26
18.5 CiA 402 DRIVE PROFILE .............................................................................................................26
18.5.1 FSA state ..................................................................................................................................26
18.5.2 Controlword/Control DI ..........................................................................................................29
18.5.2.1 Bit definition of Controlword ...........................................................................................29
18.5.2.2 Bit definition of Control DI ..............................................................................................30
18.5.3 Statusword/Status DO ............................................................................................................32
18.5.3.1 Bit definition of Statusword ............................................................................................32
18.5.3.2 Bit definition of Status DO ..............................................................................................33
18.5.4 Control mode ............................................................................................................................37
18.5.4.1 Selecting control mode (Modes of operation) ..................................................................37
18.5.4.2 Control switching .............................................................................................................37
18.5.4.3 Cyclic synchronous position mode (csp) ..........................................................................38
18.5.4.4 Cyclic synchronous velocity mode (csv)...........................................................................41
18.5.4.5 Cyclic synchronous torque mode (cst) .............................................................................43
18.5.4.6 Profile position mode (pp) ................................................................................................45
18.5.4.7 Profile velocity mode (pv) .................................................................................................49
18.5.4.8 Profile torque mode (tq) ...................................................................................................53
18.5.4.9 Homing mode (hm) ...........................................................................................................56
18.5.4.10 Point table mode (pt) ......................................................................................................84
18.5.4.11 Jog mode (jg) ...................................................................................................................89
18.5.4.12 Indexer mode (idx) ..........................................................................................................96
18.5.5 Touch probe ............................................................................................................................103
18.5.6 Quick stop ..............................................................................................................................107
18.5.7 Halt .........................................................................................................................................108
18.5.8 Software position limit ..........................................................................................................109

SMC Networks LECSN-T Series Specifications

General

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