This chapter provides basic information on EtherCAT com-
munications.
EtherCAT Slave Information . . . . . . . . . . . 13-2
EtherCAT State Machine . . . . . . . . . . . . . . 13-3
EtherCAT (CoE) Communications Settings . .13-5
Application Example . . . . . . . . . . . . . . . . . . . . . 13-5
Device Recognition with Station Aliases . . . . . . 13-5
PDO Mappings . . . . . . . . . . . . . . . . . . . . . 13-6
Setting Procedure for PDO Mappings . . . . . . . . 13-7
Default PDO Mappings . . . . . . . . . . . . . . . . . . . 13-7
Synchronization with Distributed Clocks . . 13-8
Emergency Messages . . . . . . . . . . . . . . . 13-11
EtherCAT
Communications
13