4.2.2 Control ......................................................................................................................................... 24
4.2.3 Encoder ........................................................................................................................................ 24
4.2.4 PMSM .......................................................................................................................................... 25
4.3
System ............................................................................................................................................. 25
4.4
Alarm ............................................................................................................................................... 26
5
LED status ................................................................................................................................................. 27
5.1
Fieldbus Board CanOpen\Modbus .................................................................................................. 27
5.2
Fieldbus Board EtherCAT ................................................................................................................. 28
5.3
Fieldbus Board Ethernet IP .............................................................................................................. 30
5.4
Fieldbus Board Ethernet PowerLink ................................................................................................ 32
5.5
Fieldbus Board Ethernet ProfiNet IO ............................................................................................... 34
6
Alarm ........................................................................................................................................................ 36
7
Modbus register ....................................................................................................................................... 37
7.1
Read and write register ................................................................................................................... 37
7.2
Read only register ............................................................................................................................ 38
7.3
Homing register ............................................................................................................................... 40
8
CanOpen / EtherCAT / PowerLink ............................................................................................................ 42
8.1
Overview .......................................................................................................................................... 42
8.2
DS301 Communication layer ........................................................................................................... 42
8.2.1 Physical layer ............................................................................................................................... 42
8.2.2 SDO protocol................................................................................................................................ 42
8.2.3 TIME protocol .............................................................................................................................. 43
8.2.4 PDO protocol ............................................................................................................................... 43
8.2.5 EMCY protocol ............................................................................................................................. 43
8.2.6 NMT protocol............................................................................................................................... 43
8.2.7 HEARTBEATING ............................................................................................................................ 43
8.3
Object dictionary ............................................................................................................................. 44
8.3.1 Communication area ................................................................................................................... 44
8.3.2 Manufacturer parameter area .................................................................................................... 45
8.3.3 Manufacturer specific area.......................................................................................................... 46
8.3.4 Profiled objects ............................................................................................................................ 46
8.4
CiA402
–
Servodrive application profile .......................................................................................... 48
8.4.1 Supported modes ........................................................................................................................ 48
8.4.2 Position/speed/torque scaling .................................................................................................... 48
8.4.3 Profile position ............................................................................................................................ 48
8.4.4 Profile velocity ............................................................................................................................. 49
8.4.5 Profile torque ............................................................................................................................... 49
8.4.6 Homing ........................................................................................................................................ 49
8.4.7 Touch probe ................................................................................................................................. 50
8.4.8 Interpolated mode (optional) ...................................................................................................... 50
8.4.9 Cyclic synchronous position mode (optional) ............................................................................. 50
8.4.10
Cyclic synchronous velocity mode ........................................................................................... 51
8.4.11
Cyclic synchronous torque mode ............................................................................................ 51
