Summa Series Servodrive Product Manual
EtherCAT Communications
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
5-2
Item
Specifications
Process Data
Assignments can be changed with PDO mapping.
MailBox (CoE)
Emergency messages, SDO requests, SDO responses, and
SDO information (TxPDO/RxPDO and remote
TxPDO/RxPDO are not supported.)
Distributed Clocks
Free-Run Mode and DC Mode (Can be switched), SM2
(SM2 event sync)
Applicable DC cycles: 125 μs to 8 ms in 125-μs increments
Slave Information Interface
256 bytes (read-only)
CiA402 Drive Profile
Homing Mode
Profile Position Mode
Profile Velocity Mode
Profile Torque Mode
Interpolated Position Mode
Cyclic Synchronous Position Mode
Cyclic Synchronous Velocity Mode
Cyclic Synchronous Torque Mode
Touch Probe Function
Torque Limit Function
5.2
Relevant Settings
If the EtherCAT network cannot communicate, check the settings of the parameters Pn006 and Pn704.
Parameter Name
Setting
Meaning
When Enabled
Pn006.0
Bus Selection
0
Do not use the Bus. Select the
control method by the setting of
Pn005.1.
After restart
1
Use EtherCAT. [Default]
Parameter Name
Range
Unit
Default
When Enabled
Pn704
Device Node Number
0 to 127
－
1
After restart
