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| draw.io Diagram | ||||||||||||||||||||||||
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Init State
- No communication to the application layer is allowed
- master only has communication to the data link registers (slave device eeprom, addressing, etc)
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The Cool Muscle EtherCAT slave uses dynamic switching between modes and as such there is a single fixed PDO configuration.
All position, speed and acceleration data reference units. Units are defined as encoder counts. There are 50,000 encoder counts per revolution of the motor.
RxPDO
The RxPDO is the PDO received by the motor/slave device
| Scroll Table Layout | ||
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| Object | Name | Units | Data Type | Applicable Modes of Operation | Description |
|---|---|---|---|---|---|
| 0x6040 | Controlword | - | UINT16 | All | The Controlword is used to control the state of the mode of operation. |
| 0x60FE | Digital outputs | - | UINT16 | All | Set the state of the digital outputs |
| 0x607A | Target position | units |
| INT32 | CSP | Set the target position of the motor |
| 0x60FF | Target speed |
units/ms |
units/s | INT32 | CSV PV | Set the target speed of the motor |
| . Note PV mode and CSV mode have different units. | |||||
| 0x6060 | Modes of operation | - | INT8 | All | Set the required mode of operation |
TxPDO
The TxPDO is the PDO transmitted by the motor/slave device
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| Object | Name | Units | Applicable Modes of Operation | Description |
|---|---|---|---|---|
| 0x6041 | Statusword | - | All | The Statusword describes the current state of the mode of operation. |
| 0x6064 | Position Actual Value | pulsesunits | All | The value of the motor's actual position |
| 0x606C | Speed Actual Value | pulsesunits/ms | All | The value of the motor's actual speed |
| 0x6077 | Torque Actual Value | % rated torque | All | The value of the motor's actual peak torque |
| 0x60FD | Digital Inputs | - | All | Digital inputs status |
| 0x603F | Error | - | All | The actual error code currently active. |
| 0x2301 | Temperature | °c | All | The actual motor temperature in °c. |
| 0x6079 | DC Voltage | 0.1VDC | All | The actual DC 24V DC bus voltage |
| 0x6061 | Modes of operation display | - | All | The mode of operation currently running. |
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Overview
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