1.3.3

Table of Contents

• Introduction
  • Overview
  • Cool Muscle Motors
  • Master Controllers
• EtherCAT Overview
  
  • EtherCAT State Machine
  • Explicit Device ID
  • PDO Timing
  • PDO Mappings
• Wiring and LED Information
  
  • Overview
  • Motor Connections
  • LEDs
• CiA 402 - Drives and Motion Control Device Profile
  • Controlling the Power Drive System
    
    • State Machine
    • Controlword (0x6040)
    • Statusword (0x6041)
  • Modes of Operation
    
    • Switching between modes
    • Profile Position Mode
    • Profile Velocity Mode
    • Homing Mode
    • Cyclic Synchronous Position Mode
    • Cyclic Synchronous Velocity Mode
  • Motor Peak Speeds
• Object Dictionary
  
  • Communication Objects
  • PDO Mapping Objects
  • CiA402 Drive Profile Objects
• Data Sheets and MCAD
• XML File and Firmware Updates

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