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8-3-6 EtherCAT servo control
JSDG2S-E servo driver’s subprotocol to EtherCAT communication support is CANopen over
EtherCAT(Co-E). Therefore, when using CiA402 protocol of CANopen, the user can achieve the control
over JSDG2S-E servo driver through the setting of object dictionary.
8-3-6-1 State Machine
A state machine is designed in CiA402 protocol; it rules how the user controls the use of slave
station power. For JSDG2S-E servo driver, the most significant different to users is ”Servo ON”.
The state machine supported by JSDG2S-E servo driver is shown as the following diagram. The
diagram shows all statuses of state machine and the correct power status of JSDG2S-E servo driver under
that status. The arrow direction shows the next status after status change. The number shows the motion
JSDG2S-E servo driver should generate when the state machine switches. In CiA402 protocol, two
objects are used to control the state machine: Controlword (6040h) & Statusword (6041h).
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State machine status switch
The state machine status switching list shows the required “Event” when switching is processes
between each status as well as the corresponding “Action” executed by JSDG2S-E servo driver after
“Event” occurs.
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