19 EtherNet/IP COMMUNICATION ..............................................................................................................3
19.1 EtherNet/IP COMMUNICATION ...................................................................................................3
19.1.1 Summary ....................................................................................................................................3
19.1.2 Function list ...............................................................................................................................4
19.1.3 Communication specifications ..................................................................................................6
19.1.4 Establishing and disconnecting the communication ...............................................................7
19.1.4.1 Communication status .......................................................................................................7
19.1.4.2 Startup ................................................................................................................................8
19.1.4.3 Network disconnection procedure .....................................................................................9
19.1.5 Summary of object library .........................................................................................................9
19.1.5.1 Section definition of Drive Configuration Object (64h) ...................................................9
19.2 EtherNet/IP NETWORK CARD (LEC-S-N9) ................................................................................10
19.2.1 Specifications ...........................................................................................................................10
19.2.2 Parts identification ..................................................................................................................10
19.2.3 LED indication .........................................................................................................................11
19.2.3.1 LED indication definition ................................................................................................11
19.2.3.2 LED indication list ...........................................................................................................11
19.2.4 Connecting Ethernet cables ....................................................................................................12
19.3 I/O COMMUNICATION .................................................................................................................13
19.3.1 I/O communication cycle .........................................................................................................13
19.3.2 I/O communication mapping ...................................................................................................15
19.4 Explicit Message COMMUNICATION ..........................................................................................17
19.4.1 Explicit Message communication-related service ..................................................................17
19.4.2 Common service .......................................................................................................................18
19.4.2.1 Set_Attribute_Single ........................................................................................................18
19.4.2.2 Get_Attribute_Single .......................................................................................................18
19.4.2.3 Get_Attributes_All ...........................................................................................................18
19.4.2.4 Reset ..................................................................................................................................19
19.5 DRIVE PROFILE ............................................................................................................................19
19.5.1 FSA state ..................................................................................................................................19
19.5.2 Controlword/Control DI ..........................................................................................................22
19.5.2.1 Bit definition of Controlword ...........................................................................................22
19.5.2.2 Bit definition of Control DI ..............................................................................................23
19.5.3 Statusword/Status DO ............................................................................................................26
19.5.3.1 Bit definition of Statusword ............................................................................................26
19.5.3.2 Bit definition of Status DO ..............................................................................................27
19.5.4 Control mode ............................................................................................................................33
19.5.4.1 Selecting control mode (Modes of operation) ..................................................................33
19.5.4.2 Control switching .............................................................................................................33
19.5.4.3 Profile position mode (pp) ................................................................................................34
19.5.4.4 Profile velocity mode (pv) .................................................................................................38
19.5.4.5 Profile torque mode (tq) ...................................................................................................42
19.5.4.6 Homing mode (hm) ...........................................................................................................45
19.5.5 Touch probe ..............................................................................................................................72
19.5.6 Quick stop ................................................................................................................................76
19.5.7 Halt ...........................................................................................................................................77
19.5.8 Software position limit ............................................................................................................78
19.5.9 Torque limit .............................................................................................................................78
19.5.10 Polarity ...................................................................................................................................79
19.5.11 Degree function ......................................................................................................................81
19.6 MANUFACTURER FUNCTIONS .................................................................................................83
19.6.1 Object for status monitor ........................................................................................................83
19.6.2 Instruction code .......................................................................................................................85
19.6.2.1 Summary...........................................................................................................................85
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