18．EtherCAT COMMUNICATION
(2) Various control modes supported
The _ driver supports the following control modes. In the table below, whether the synchronous mode
and asynchronous mode can be used in each control mode. For the synchronous mode and
asynchronous mode, refer to (3) in this section.
Cyclic synchronous
position mode
This is a position mode where a position command is
received at a constant period to drive the servo motor in the
synchronous or asynchronous communication with a upper
side.Use an absolute position address for a command.
Cyclic synchronous
velocity mode
This is a speed mode where a speed command is received at
a constant period to drive the servo motor in the synchronous
or asynchronous communication with a upper side.
Cyclic synchronous
torque mode
This is a torque mode where a torque command is received
at a constant period to drive the servo motor in the
synchronous or asynchronous communication with a upper
side.
This is a positioning operation mode where an end position
command is received to drive the servo motor in the
synchronous or asynchronous communication with a upper
side. Use an absolute position address or relative position
address for a command.
This is a mode where a target speed command is received to
drive the servo motor in the synchronous or asynchronous
communication with a upper side.
This is a mode where a target torque command is received to
drive the servo motor in the synchronous or asynchronous
communication with a upper side.
This is a mode where the driver performs a home position
return operation using the method directed by the upper side.
In this control mode, the servo motor is driven according to
the travel distance and speed stored in the point table No.
which is specified in the synchronous or asynchronous
communication with a upper side. This control mode is not in
CiA 402 standard.
In this control mode, the servo motor is manually driven at a
speed set in the synchronous or asynchronous
communication with a upper side. This control mode is not in
CiA 402 standard
In this control mode, the servo motor is driven to the station
specified in the synchronous or asynchronous communication
with a upper side. This control mode is not in CiA 402
standard
Drivers cannot be used in the asynchronous mode. When the upper side sends an operation command in the asynchronous
mode, the error code that indicates the state transition is not allowed is notified and the ERROR LED of the network card
blinks.
Drivers can be used in the asynchronous mode. When it is used in the asynchronous mode, Cycle time (1C32h: 2) setting is
required. For details on Cycle time (1C32h: 2), refer to (4) in this section.
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