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6. EtherCAT Connection Procedure
This section describes the procedures to connect the Controller and Servo Driver via
EtherCAT, and to operate the motion control devices. The description assumes that the
Controller is set to factory default.
If an uninitialized Controller is used, the motion control devices may perform
unexpected operations upon power-on depending on the Controller status,
resulting in a personal injury to the user.
To prevent unexpected operations of motion control devices, be sure to initialize
the Controller before connecting the motion control devices and the Controller
via Ethernet cable.
6.1. Workflow
Take the following steps to operate the motion control devices after connecting the Controller
and Servo Driver via EtherCAT.
6.2 Preparation for the Controller Setup
Prepare the Controller settings.
6.2.1 Creation of a New Project
6.2.2 Initial Settings of the Controller
6.3 Installation of ESI Files
Install the ESI file for Servo Driver
into Power PMAC IDE.
6.4 EtherCAT Communications Setup
Set up EtherCAT communications.
6.4.1 Communications Setup for the EtherCAT Master
6.4.2 Distributed Clock Setup
6.4.4 Creation of an EtherCAT Network Information File
6.5.1 EtherCAT Communications Check
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