Drive User Guide
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D. How to setup the Operational Mode for EtherCAT
If Lightening connects to D1COE/D2COE/D1NCOE drive, then the options of Position Mode, Velocity
Mode and Force/Torque Mode shown in the Mode page of Configuration center will be invalid and
unable to click. Only the option of Stand-Alone Mode is default setting and valid. Besides, the option of
EtherCAT Operation Mode will also be shown as shown in the figure below. Before setting up the motor,
the option of EtherCAT Operation Mode is default setting and invalid; and will unable to click. Once the
setting of motor is completed and re-open the Mode page of Configuration center, then this option will
be valid and can be set up by the user. After the option of EtherCAT Operation Mode has been set up,
then the controller of master station EtherCAT will be able to operate the drive normally.
Before setting up the motor.
After completing the setting of motor.
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