User Manual Of EL7-EC** AC Servo
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ID number setting of EtherCAT slave station
To set up EtherCAT slave station ID number, please set Pr0.24 = 1 and set required ID
number to Pr0.23.
Pr0.23
Name
EtherCAT slave ID
Mode
F
Range
0~32767 Unit
—
Default
2
Index
2023h
Activation
After restart
Set ID number of the slave station under EtherCAT mode
Pr0.24
Name
Source of slave ID
Mode
F
Range
0~1
Unit
—
Default
1
Index
2024h
Activation
After restart
0: Master device automatically assigns a slave address.
1
：
The slave ID = Pr0.23
7.2 Synchronous Mode
7.2.1 Free Running Mode
In free moving mode, EL7-EC processes the process data sent by the master
asynchronously. It only applies to asynchronous motion mode such as homing mode,
protocol position mode, etc
7.2.2 Distributed clock synchronization mode
EL7-EC adopts the synchronous mode of distributed clock as shown in figure 6.2. When
the master station sends process data to the slave station, the slave station immediately
reads the process data, and then waits for the synchronization signal to trigger the
process data to act on the driver.
The process data must arrive at the EL7-EC drive before the time of Sync0 signal T1. The
drive has completed the analysis of the process data and relevant control calculation
before the arrival of Sync0 event. After receiving Sync0 event, EL7-EC immediately
implements the control action which has a high synchronization performance.
Data
output
event
Data
frame
Data
output
event
Data
frame
T
1
T
1
Cycle time
Sync0
event
Sync0
event
Figure 7.2 High performance synchronization mode
