E6581818
- 11 -
Title
Communi
cation No.
Function Description Default
c103 C103
Communication time-out
condition selection
0: Disconnection detection
1: When communication mode enable (Both
cmod and fmod are set CANopen or
communication option) only
2: 1 + Driving operation
0
c400 C400 EtherCAT slave status
1: INIT Initialization
2: PREOP Pre-operational
3: BOOTTRAP Bootstrap
4: SAFE-OP Safe operational
In SAFE-OP mode, inputs are updated in PDOs,
outputs are not valid.
8: OP Operational
In OP mode, inputs and outputs are valid.
-*
3
c401 C401 EtherCAT second address
0 - 65535
Address changeable from drive or from master via
2nd address dialog.
0
c402 C402
EtherCAT address
Actual value
0 - 65535
The monitor of the EtherCAT address actual value
-*
3
c410 C410 PDO: Command1
0x1600 subidx 0x01 Command Index No.
0x6040: Controlword
0x6040
c411 C411 PDO: Command2
0x1600 subidx 0x02 Command Index No.
0x6042: vl target velocity
0x6042
c412 C412 PDO: Command3 0x1600 subidx 0x03 Command Index No.
0
c413 C413 PDO: Command4 0x1600 subidx 0x04 Command Index No. 0
c414 C414 PDO: Command5 0x1600 subidx 0x05 Command Index No. 0
c415 C415 PDO: Command6 0x1600 subidx 0x06 Command Index No. 0
c416 C416 PDO: Monitor1
0x1A00 subidx 0x01 Monitor Index No.
0x6041: vl Statusword
0x6041
c417 C417 PDO: Monitor2
0x1A00 subidx 0x02 Monitor Index No.
0x6044: vl velocity actual value
0x6044
c418 C418 PDO: Monitor3 0x1A00 subidx 0x03 Monitor Index No. 0
c419 C419 PDO: Monitor4 0x1A00 subidx 0x04 Monitor Index No. 0
c420 C420 PDO: Monitor5 0x1A00 subidx 0x05 Monitor Index No. 0
c421 C421 PDO: Monitor6 0x1A00 subidx 0x06 Monitor Index No. 0
*1: The unit depends on the f519 setting.
*2: These parameters are according to c410 ~ c421 parameters.
*3: These parameters are “Monitor data.”
Note: These default values were set when the EtherCAT option was installed.
Warning
Mandatory
action
Set up “Communication error trip function (c100 to c103)” to stop the drive when
EtherCAT
®
communication is deactivated.
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