19．EtherNet/IP COMMUNICATION
19.1.4.3 Network disconnection procedure
To disconnect the network by stopping device operation or other means, follow the procedure shown below.
(1) Stop the servo motor.
(2) Set the shutdown command for Controlword (Class 64h, Instance 6040h, Attribute 0) to establish the
servo-off status.
(3) Issue the Forward_Close service from the upper side and disconnect the I/O communication.
(4) Shut off the power of the driver and upper side.
19.1.5 Summary of object library
Refer to chapter 7 for details of the object library.
Each data set that EtherNet/IP devices have such as control parameters, command values, and feedback
values is handled as an object composed of a Class ID, object name, data type, access rule, and other
elements. The object data can be exchanged between the master and slave devices. The aggregate of these
objects is called object library.
The drivers support the following objects. Refer to the Reference column for the section where the details of
each object are described.
Connection Manager Object
Device Level Ring(DLR) Object
Drive Configuration Object
Section 7.3.1 (2)
Section 7.3.4 to
7.3.16
19.1.5.1 Section definition of Drive Configuration Object (64h)
The master can control the slave by sending and receiving commands/feedback data via Drive Configuration
Object. Instances of Drive Configuration Object are categorized as follows according to the CiA 402 standard.
Parameter area (Vendor-specific)
Servo control command/monitor area (Vendor-specific)
CiA 402 Drive profile area
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