Hiwin E1 Series - 2 Ethercat Communication

2. EtherCAT Communication
2. EtherCAT Communication ................................................................................................................................ 2-1
2.1 System configuration ...................................................................................................................... 2-2
2.2 Specifications .................................................................................................................................. 2-2
2.3 EtherCAT frame structure ............................................................................................................... 2-4
2.3.1 EtherCAT commands ............................................................................................................. 2-5
2.3.2 WKC (Working Counter) ........................................................................................................ 2-6
2.4 EtherCAT State Machine ................................................................................................................ 2-7
2.5 Synchronous mode ....................................................................................................................... 2-10
2.5.1 DC ........................................................................................................................................ 2-10
2.5.2 FreeRun ................................................................................................................................ 2-11
2.6 SDO abort code ............................................................................................................................. 2-11
2.7 Emergency message .................................................................................................................... 2-12
2.8 PDO (Process Data Object) ......................................................................................................... 2-13
2.8.1 PDO mapping object ............................................................................................................ 2-13
2.8.2 PDO assign object ............................................................................................................... 2-14
2.9 EtherCAT display and setting area ............................................................................................... 2-15
2.9.1 Node address setting ........................................................................................................... 2-15
2.9.2 EtherCAT indicators ............................................................................................................. 2-16
2.10 EtherCAT related errors ................................................................................................................ 2-17