Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Communications specifications
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2-5 Service data object (SDO)
When read and write of the parameter object is performed, or monitor is executed via EtherCAT communication, the
Service data object (SDO) is used. SDO is not synchronized to EtherCAT communication cycles, but it is sent and
received in an arbitrary timing. The setting of PDO mapping is also performed using SDO.
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SDO abort code
If an error occurs while SDO is sent and received, an abort code is sent back. The abort codes are listed in the table.
Abort code Description
0503 0000h Toggle bit did not inverted.
0504 0000h SDO protocol timeout
0504 0001h Client/server command specifier is not enabled or unknown.
0504 0005h Out of range of memory
0601 0000h Unsupported access to an object
0601 0001h Read access was performed to a write only object.
0601 0002h Write access was performed to a read only object.
0602 0000h The object does not exist.
0604 0041h The object can not be mapped in PDO.
0604 0042h The number of the PDO mappings or the data length exceeded the limitation.
0604 0043h General parameter incompatibility
0604 0047h General internal incompatibility in the device
0606 0000h Access failed due to a hardware error
0607 0010h Data type does not match, length of service parameter does not match.
0607 0012h Data type does not match, length of service parameter is too long.
0607 0013h Data type does not match, length of service parameter is too short.
0609 0011h Sub-index does not exist.
0609 0030h The setting range of the parameter was exceeded. (For write access)
0609 0031h The value of the write parameter is too large.
0609 0032h The value of the write parameter is too small.
0609 0036h The maximum value is less than the minimum value.
0800 0000h General error
0800 0020h Data cannot be transferred or stored to the application.
0800 0021h Data cannot be transferred or stored to the application because of local control.
0800 0022h Data cannot be transferred or stored to the application in the present device status.
0800 0023h Object dictionary cannot be generated or object dictionary does not exist.
2-6 Synchronous mode of EtherCAT communication
This product is compatible with three modes of EtherCAT communication.
z
Free Run mode
The driver operates in asynchronous with EtherCAT communication.
The communication cycle of the Free Run mode is 1 ms or more.
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Sync manager 2 event synchronization mode
The driver operates in synchronization with EtherCAT communication. An application is synchronized with the Sync
manager 2 event.
Whenever the driver receives the process data output (RxPDO), the Sync manager 2 event is generated.
The communication cycle of the Sync manager 2 event synchronization mode is 1 ms or more.
z
DC mode (SYNC0 event synchronization)
The driver operates in synchronization with EtherCAT communication. An application is synchronized with the SYNC0
event.
The communication cycle of the DC mode is 0.25 ms, 0.5 ms, or 1 to 8 ms (in 1 ms unit).