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EtherCAT State Machine
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The EtherCAT State Machine (ESM) is required on all EtherCAT devices. The ESM in general
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- All communication is commenced and valid
PDO Mappings
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The Cool Muscle EtherCAT slave uses dynamic switching between modes and as such there is a single fixed PDO configuration.
RxPDO
The RxPDO is the PDO received by the motor/slave device
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| Object | Name | Units | Applicable Modes of Operation | Description |
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| 0x6040 | Controlword | - | All | The Controlword is used to control the state of the mode of operation. |
| 0x607A | Target position | pulses | CSP | Set the target position of the motor |
| 0x60FF | Target speed | pulses/ms | CSV | Set the target speed of the motor |
| 0x60FE | Digital outputs | - | All | Set the state of the digital outputs |
| 0x6060 | Modes of operation | - | All | Set the required mode of operation |
TxPDO
The TxPDO is the PDO transmitted by the motor/slave device
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Overview
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