Oriental motor aSTEP AZ mini Driver, User Manual

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3 EtherCAT communication
This part explains how to control via EtherCAT communication.
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Table of contents
1 Guidance ................................................. 36
2 Communications specifications .......... 39
2-1 EtherCAT communication interface ......... 39
2-2 CiA402 drive profile ....................................... 39
2-3 EtherCAT state machine (ESM) ................... 40
2-4 Process data object (PDO) ........................... 40
2-5 Service data object (SDO) ............................ 43
2-6 Synchronous mode of EtherCAT
communication ............................................... 43
2-7 Distributed Clocks .......................................... 44
2-8 Emergency message ..................................... 44
3 Drive profile ............................................ 45
3-1 Drive state machine ....................................... 45
3-2 Operation modes ............................................ 48
3-3 Cyclic synchronous position mode
(CSP) .................................................................... 48
3-4 Profile position mode (PP) ........................... 50
3-5 Cyclic synchronous velocity mode
(CSV) .................................................................... 61
3-6 Profile velocity mode (PV) ........................... 63
3-7 Homing mode (HM) ....................................... 66
4 Functions ................................................. 80
4-1 Touch probe ...................................................... 80
4-2 Resolution ......................................................... 83
4-3 Wrap function .................................................. 84
4-4 Operating current and stop current ........ 84
4-5 Maintenance commands ............................. 85
4-6 Assignment of I/O functions ....................... 86
5 Coordinates management ................... 95
5-1 Overview of coordinates
management .................................................... 95
5-2 Coordinate origin ............................................ 99
5-3 Parameters related to ABZO sensor .......100
5-4 Mechanism settings parameter ...............101
5-5 Initial coordinate generation &
wrap coordinate parameters ....................102
6 Object dictionary .................................108
6-1 Composition of object dictionary ...........108
6-2 Objects of CoE communication area .....109
6-3 Objects of profile area .................................114
6-4 Objects of manufacturer-specific
area ....................................................................124