ZMC212BE Motion Controller User Manual V1.5
Involved number concepts in above figure are as follows: the bus-related command
parameters will use the following numbers:
Slot No. (slot):
The slot number refers to the number of the bus interface on the controller, and the
slot number of the EtherCAT bus is 0.
Device No. (node):
The device number refers to the number of all devices connected to a slot. It starts
from 0 and is automatically numbered according to the connection sequence of the
devices on the bus. You can view the total number of devices connected to the bus
through the NODE_COUNT(slot) command.
Drive No:
The controller will automatically identify the drive on the slot, and the number starts
from 0, and the number is automatically numbered according to the connection sequence
of the drive on the bus.
The drive number is different from the device number. Only the drive device number
on the slot is assigned, and other devices are ignored. The drive number will be used when
mapping the axis number.
4.2.2.
EtherCAT Bus Expansion Resource Mapping
→
IO Mapping:
The program on the controller can access the resources on the expansion module
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