EtherCAT Communication Card: CMM-EC02/ CMM-EC03
CMM-EC02/ CMM-EC03 Operation Manual
Table of Contents
1. Introduction................................................................................................................................6
1.1 Network Functions and Specifications.....................................................................................6
1.2 Product Appearance..................................................................................................................7
1.2.1 Panel Cut Out Dimensions..............................................................................................7
1.2.2 Components ....................................................................................................................7
1.3 LED Indicators .........................................................................................................................8
1.4 RJ45 PIN Definition.................................................................................................................8
1.5 Application ...............................................................................................................................8
1.5.1 Applicable firmware version and supporting mode........................................................8
2. Installation and Wiring...............................................................................................................9
2.1 Mounting Position of Communication Card ............................................................................9
2.2 Install and Remove Option Cards ..........................................................................................10
2.2.1 Communication Cable and Grounding..........................................................................10
Communication Cable............................................................................................................10
Grounding............................................................................................................................... 11
2.2.2 MS300 Installation ........................................................................................................13
MS300 Mounting Position 1 (See Section 2.1 for Details on Mounting Position) Frame A-F13
2.2.3 MH300 Installation .......................................................................................................13
MH300 Mounting Position 1 (See Section 2.1 for Details) – Frame A – I ............................13
2.3 Network Connection .................................................................................................................17
2.4 MH300 / MS300 Drive Settings.............................................................................................17
2.5 ESI (EtherCAT Slave Information) ........................................................................................17
3. Introduction to EtherCAT.........................................................................................................18
3.1 Protocol ..................................................................................................................................18
3.2 EtherCAT State Machine........................................................................................................19
3.3 Dynamic Recognition ............................................................................................................20
4. System Setup ...........................................................................................................................21
4.1 Asynchronous.........................................................................................................................21
4.2 PDO mapping configuration ..................................................................................................22
4.2.1 Default PDO mapping configuration............................................................................22
4.2.2 Set PDO mapping .........................................................................................................23
5. CiA402 equipment regulation..................................................................................................24
5.1 CANopen over Ethernet (CoE) State Machine ......................................................................24
5.2 EtherCAT Operation Mode ....................................................................................................26
5.2.1 Velocity Mode...............................................................................................................26
6. Communication Warning / Fault Table....................................................................................28
6.1 Motor drive warning / fault table ...........................................................................................28
6.2 SDO Abort Code ....................................................................................................................29
