sd700-ethercat-communication-manual操作说明书手册-v1.0

table of ContentsCatalogI communication specifications.22 wiring...….32.1 Interface Information.....32.2 Topological connection.............32.3 communication cable..42.4 EMC standard..43 EtherCAT communication network settings....3.I Parameter setting of Ethe rCAT mode43.2 EtherCAT status monitoring...............54 EtherCAT Communication Foundation....64.I EtherCAT communication specification......64.2 Communication structure......................…64.3 EtherCAT state machine.....................74.4PT0 cess Data…………………….84.4.1 PDO Mapping Parameters.84.4.2 PDO Sync hronization Management Assignment Settings........4.43 PDOConfiguration......................94.5 Mailbox Data SD0.….94.6disfribufed clock.95C0nfr0lm0de.………95.1 contour position mode (pp)105.2 Contour speed mode (pv).......135.3 Profile Torque Mode (pt)......................145.4 cycle synchronous position mode (csp).......155.5 cycle synchronous speed mode(csv).....165.6 cycle synchronous torque mode(cst).185.7 zero return mode (hm).....................196 Object Dictio nary objeet dictionary.536.1 object attribute description.................536.2 1000h group object list.….546.36000h group object list........96.4Object Dictionary Details.746.4.1 Detailed Description of 1000h Group Objects.746.4.2 Detailed description of the 6000h group object1297 Troubleshooting information.........1487.I fault code.....1487.2 War ning code..1517.3 Communication failure recovery method.1518 with the Beckhoff main station operation example...1529 With the OMRON main station operation example..............................159