Chapter 1 CoE Drive Overview 1.1 Communication Specification Revision April, 2015 1-1 EtherCAT Communication Physical layer 100BASE-TX Communication RJ45 × 2 (Connector CN6A=IN, CN6B=OUT) connector Network topology Line connection Baud rate 2 x 100 Mbps (full duplex) Frame data length Maximum 1484 bytes SyncManager SM0: Mailbox output SM1: Mailbox input SM2: Process data output SM3: Process data input FMMU (Fieldbus Memory Management Units) FMMU0: Process data output area FMMU1: Process data input area FMMU2: Mailbox status area Device profile CoE: CANopen over EtherCAT Synchronization DC synchronization ( SYNC0 ) Non- synchronized ( Free Run ) mode Communication object SDO:
Service Data Object PDO: Process Data Object EMCY: Emergency Data Object LED indicator EtherCAT ERR (ER) × 1 EtherCAT Link/Activity (L/A) × 2 EtherCAT RUN (RN) × 1 (On RJ45 Connector) Application layer specifications IEC61800-7 CiA402 Drive Profile The supported CiA402 operation modes Profile Position Mode (PP) Profile Velocity Mode (PV) Profile Torque Mode (PT) Homing Mode (HM) Interpolated Position Mode(IP) Cycle Synchronized Position Mode (CSP) Cycle Synchronized Velocity Mode (CSV) Cycle Synchronized Torque Mode (CST)