Printed in the Federal Republic of Germany TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 9 of 153
List of figures
Figure 1: EtherCAT functional principle ................................................................................................. 19
Figure 2: Ethernet frame structure ........................................................................................................ 20
Figure 3: EtherCAT state machine ........................................................................................................ 21
Figure 4: CANopen over EtherCAT communication mechanism .......................................................... 23
Figure 5: CANopen organized in the ISO/OSI layer model ................................................................... 24
Figure 6: EtherCAT organized in the ISO/OSI layer model ................................................................... 24
Figure 7: Structure of the object dictionary ............................................................................................ 25
Figure 8: Comparison of PDO/SDO characteristics .............................................................................. 25
Figure 9: DSP 402 state machine ......................................................................................................... 31
Figure 10: Positioning ramp................................................................................................................... 37
Figure 11: Absolute positioning (top) and relative positioning (bottom) ................................................ 38
Figure 12: Speed ramp .......................................................................................................................... 42
Figure 13: Cyclic synchronous position control function (CSP) ............................................................ 49
Figure 14: Cyclic synchronous velocity control function (CSV) ............................................................. 52
Figure 15: Cyclic synchronous torque control function (CST) ............................................................... 55
List of formulas
Formula 1: Position encoder resolution ................................................................................................. 56
Formula 2: Default value, position encoder resolution .......................................................................... 56
Formula 3: Speed encoder resolution ................................................................................................... 56
Formula 4: Default value, speed encoder resolution ............................................................................. 56
Formula 5: Position factor...................................................................................................................... 57
Formula 6: Gear ratio ............................................................................................................................ 57
Formula 7: Default value, position factor ............................................................................................... 57
Formula 8: Speed factor ........................................................................................................................ 59
Formula 9: Default value, speed factor ................................................................................................. 59
Formula 10: Acceleration factor ............................................................................................................ 61
Formula 11: Default for acceleration factor ........................................................................................... 61
To Next Page
Loading...
