SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For
EHS-580 EtherCAT Hybrid Servo Drive
6082+00
Start-stop speed
R/W
The start and stop speed at PP mode
6083+00
Trapezoidal Acc
R/W
Trapezoidal Acc
6084+00
Trapezoidal Dec
R/W
Trapezoidal Dec
6085+00
Dec for E-stop
R/W
Dec for E-stop
，
it is enabled or disabled depend on the value of
605A
6098+00
Homing research mode
R/W
Homing research mode
6099+01
Homing research speed
R/W
Speed for researching limit switch
6099+02
Homing research speed
R/W
Speed for researching homing
609A+00
Homing research Acc
R/W
Acc of Homing research
60F4+00
Position following error
R
Position following error
60FD+00
Input status
R
bit0
：
limit-
，
bit1
：
limit+
，
bit2
：
homing
60FF+00
Target speed
R/W
The max speed at PV mode
5.
Basic Information Of EtherCAT
5.1EtherCATData Frame Structure
EtherCAT transmit the data with the network data frame; the fixed frame type is 0x88A4. It includes two bytes of
EtherCAT frame header and 44~1498 bytes of EtherCAT data. The EtherCAT data field consists of one or some
EtherCAT sub messages, each message is corresponding to a storage area of the slave station.
Frame structure
Definition
Target address
MAC address of Receiver
Source address
MAC address of Sender
EtherCAT frame header: data length
EtherCAT the total length of all sub messages in the data field
EtherCAT frame header type
1: communication with slave stations; others are reserved
FCS
The Frame check
5.2 Synchronous Mode
5.2.1 Random running mode
At this mode, the drive adopt asynchronous mode to process the processing data from master, it is suitable for
asynchronous operation mode only, such as HM mode, PP mode.
5.2.2 Distributed clock synchronization mode
After the master sending the processing data , the slave station receive and read the processing data immediately, at
