EM3E Series EtherCAT Stepper Drive User Manual
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6 Common Functions
6.1 Saving Parameters and Resetting Drive
To save all storable parameters into EEPROM through Object 0x1010, need to write
“0x65766173” into sub-index 01h. To reset the drive to default parameters through Object
0x1011, need to write “0x64616F6C” into sub-index 01h. After writing the save command, do not
turn off the power immediately, wait around 10s to ensure that all parameters have been saved
successfully. The below table is the description of Object (1010h) and Object (1011h).
Table 6.1: Object (1010h) and Object (1011h)
Action
Index
Sub-index
Write Command
(hex)
Return
Value
Description
Save Objects (2000h-5000h)
1010+04
0x65766173
Return 1
Save Manufacture Specific
Objects
Save Objects (6000h)
1010+03
0x65766173
Return 1
Save Motion Objects
Save Object (1000)
1010+02
0x65766173
Return 1
Save
Communication
Objects
Save all Objects
1010+01
0x65766173
Return 1
Save all Objects
Restore Objects (2000h-5000h)
1011+04
0x64616F6C
Return 1
Reset Manufacture Specific
Objects
Restore Objects (6000h)
1011+03
0x64616F6C
Return 1
Save Motion Objects
Restore Objects (1000h)
1011+02
0x64616F6C
Return 1
Reset
Communication
Objects
Restore all Objects
1011+01
0x64616F6C
Return 1
Reset all Objects
6.2 Control Word and Operation Modes
EM3E supports both synchronous mode and asynchronous mode. In the synchronous mode,
master station processes trajectory planning and outputs cyclical instructions. Drives follow
the planning instructions given by master station in synchronous cycle, making it suitable for
synchronous motion of multiple axes. EM3E synchronous motion mode supports CSP mode.
In CSP mode, master station completes trajectory planning and sends it to EM3E. The drive
will execution the synchronous cyclic position instructions immediately once they has arrived.
The EM3E supports following synchronous cycles:250 us, 500 us, 750us, 1000 us, 2000 us, 4000
us,8000 us.
In asynchronous motion mode, master station is only responsible for sending motion
parameters and control commands. EM3E drives will process trajectory planning according to
the motion parameters after receives control command from master station and the
movements between each axis are asynchronous. EM3E asynchronous mode includes Profile
Position mode(PP),Profile Velocity mode(PV)and Homing mode(HM).
In both control modes, EtherCAT data transmission between master and slave station is
achieved through object dictionary. The transmission types contain PDO and SDO and only
one can be chosen in general cases. According to control needs, it is classified in three levels
by data transmission real time capability and importance:
Must> Recommend > Can.
“Must” indicates under this mode,the object dictionary has to be PDO mode;
“Recommend” indicates under the set mode, the object dictionary is suggested to be
configured as PDO mode to achieve real-time capability but SDO transmission can be
allowed if the controlling is not quite demanding;
”Can” indicates under this mode, object dictionary data transmission is generally
through SDO mode and PDO communication mode won’t be necessary.
The object dictionary of each control mode are shown as below:
