Comunication description

EtherCAT Industrial Bus Communication Description

Distributed Clock (DC)

The distributed clock feature is supported. Sync 1 signal period must be set to the same period as the PDO communication period.

Process Data Objects (PDO)

The EtherCAT master can use the following PDO communication periods: 250 µs, 500 µs, 1000 µs, 2000 µs (50 µs for specific configuration). The servo drive uses a fixed PDO mapping described in the table below. PDO length is 44 bytes.

Output PDO for Servo Drive

Name	Type	Description
PositionSetPoint_1 or SpeedSetPoint_1	Signed 64bit integer	Position Mode (3):
		Desired position for servo drive 1. Resolution 32 bits/rev. Example: 1.5 revolutions: 6442450944 = 0x0000000180000000 -1.5 revolutions: -6442450944 = 0xFFFFFFFE80000000
		Speed Mode (10):
		Desired speed for servo drive 1. Resolution 1 rev/min ~ 2^32 Example 500 rev/min: 2147483648000 = 0x1F4 0000 0000
		-500 rev/min: -2147483648000 = 0xFFFF FE0C 0000 0000
control_1	Unsigned 32bit integer	Control commands for servo drive 1. Bit0 .. Clear errors. Bit1 .. Enable power stage. Bit28 .. Digital output 1 Bit29 .. Digital output 3 Bit30 .. Digital output 5
currentSetPoint_1	Signed 16bit integer	Desired current for servo drive 1. IqSetPoint = currentSetPoint_1 * M-Ipeak / 32767
currentLimit_1	Unsigned 16bit integer	Current limit for servo drive 1. IqLim = (32767 - currentLimit_1)* M-Ipeak / 32767 32767 .. full limit 0 .. no limit (maximum current = M- Ipeak)
positionSetPoint_2 or speedSetPoint_2	Signed 64bit integer	Position Mode (3): Desired position for servo drive 2.
		Resolution 32 bits/rev.
		Example of position mode (0x3):
		1.5 revolutions :
		6442450944 = 0x0000000180000000
		-1.5 revolutions :
		-6442450944 = 0xFFFFFFFE80000000
		Speed Mode (10):
		Desired speed for servo drive 2.
		Resolution 1 rev/min ~ 2^32
		Example: 500 rev/min: 2147483648000 = 0x1F4 0000 0000 -500 rev/min: -2147483648000 = 0xFFFF FE0C 0000 0000
control_2	Unsigned 32bit integer	Control commands for servo drive 2. Bit0 .. Clear errors. Bit1 .. Enable power stage. Bit28 .. Digital output 2 Bit29 .. Digital output 4 Bit30 .. Digital output 6
currentSetPoint_2	Signed 16bit integer	Desired current for servo drive 2. IqSetPoint = currentSetPoint_2 * M-Ipeak / 32767
currentLimit_2	Unsigned 16bit integer	Current limit for servo drive 2. IqLim = (32767 - currentLimit_2)* M-Ipeak / 32767 32767 .. full limit 0 .. no limit (maximum current = M- Ipeak)
Reserved_1	Unsigned 32bit integer
Reserved_2	Unsigned 32bit integer
Reserved_3	Unsigned 32bit integer

Input PDO from servo-drive

Name		Type		Description
positionActValue_1		Signed 64bit integer		Actual position of servo drive 1. Resolution 32 bits/rev. Example: 1.5 revolutions: 6442450944 = 0x0000000180000000 -1.5 revolutions: -6442450944 = 0xFFFFFFFE80000000
positionActValue_2		Signed 64bit integer		Actual position of servo drive 2. Resolution 32 bits/rev. Example: 1.5 revolutions: 6442450944 = 0x0000000180000000 -1.5 revolutions: -6442450944 = 0xFFFFFFFE80000000
positionActValueExt		Signed 32bit integer		External feedback position E.
status_1		Unsigned 32bit integer		Status of servo drive 1. Bit0 .. Power stage enabled – under voltage. Bit1 .. active HW enable. Bit2 .. active Software enable. Bit3 .. motor brake released. Bit4 .. No error. Bit5 .. Initialization. Bit6 .. Fieldbus mode. Bit28 .. Digital input 1 Bit29 .. Digital input 3 Bit30 .. Digital input 5 Bit31 .. Digital input 7
status_2		Unsigned 32bit integer		Status of servo drive 2. Bit0 .. Power stage enabled – under voltage. Bit1 .. active HW enable. Bit2 .. active Software enable. Bit3 .. motor brake released. Bit4 .. No error. Bit5 .. Initialization. Bit6 .. Fieldbus mode. Bit28 .. Digital input 2 Bit29 .. Digital input 4 Bit30 .. Digital input 6 Bit31 .. Digital input 8
analogInput_1		Unsigned 16bit integer		Actual value of analog input 1. 0 .. 0V , 32767 .. 10V
analogInput_2		Unsigned 16bit integer		Actual value of analog input 2. 0 .. 0V , 32767 .. 10V
currentqActValue_1		Signed 16bit integer		-32768 .. -M-Ipeak, 32767 .. M-Ipeak I = 32767 * currentqActValue / M-Ipeak
currentqActValue_2		Signed 16bit integer		-32768 .. -M-Ipeak, 32767 .. M-Ipeak I = 32767 * currentqActValue / M-Ipeak
mappedParameter_1		Unsigned 32 bit integer		Register value defined in parameter C-MappingPar1
mappedParameter_2		Unsigned 32 bit integer		Register value defined in parameter C-MappingPar2

Service data objects (SDO)

For SDO the used protocol is CAN Open over EtherCAT (CoE).

	MailBox output	MailBox input
Byte 0	Length of the data (Low Byte)
Byte 1	Length of the data (High Byte)
Byte 2	Address (Low Byte)
Byte 3	Address (High Byte)
Byte 4	Bit 0 to 5: Channel Bit 6 to 7: Priority
Byte 5	Bit 0 to 3: Type = 3 : Can over EtherCAT
	Bit 4 to 7: Reserved
Byte 6	PDO Number (with PDO transmissions only, Bit 0 = LSB of the PDO number, see Byte 7 for MSB)
Byte 7	Bit 0: MSB of the PDO number, see Byte 6
	Bit 1 to 3: Reserved
	Bit 4 to 7: CoE specific type = 2 : SDO request	Bit 4 to 7: CoE specific type = 3: SDO response
Byte 8	Control-Byte in the CAN telegram:
	Write access 0x2? .. 4byte	Write: OK 0x2? Error 0x80
	Read access 0x4? .. 4byte	Read: OK 0x4? Error 0x80
Byte 9	Low Byte of the CAN object number (Parameter number)
Byte 10	High Byte of the CAN object number (Parameter group number)
Byte 11	Subindex according to CANopen Specification (not used)
Byte 12	Data (Low Byte)
Byte 13	Data
Byte 14	Data
Byte 15	Data (High Byte)

Registers

Name	Description
C-ID	TGZ EtherCAT alias.
C-SetCycleTime	Parameter must be set to the right value of the fieldbus communication period.
C-SyncTime	Actual measured period of generated sync signal (only for DC).
C-MapingPar1	Address of selected parameter for PDO mapping 1.
C-MapingPar2	Address of selected parameter for PDO mapping 2.
Monitoring-PacketTime	Actual measured period between fieldbus packets.