DELTA_IA-MDS_VFD-C2000 Series_CMC-EC01_OM_SC_20210804EtherCAT CMC-EC01
CMC-EC01 2
CMC-EC01 V3.00
5. CiA402 .......................................................................................................................... 22
5.2 EtherCAT .............................................................................................................. 24
5.2.3 (Velocity Mode) ........................................................................................... 29
5.2.4 (Homing Mode) .................................................................................... 31
5.2.5 (Cyclic Synchronous Position Mode) ........................................... 33
5.2.6 (Cyclic Synchronous Torque Mode) ............................................. 35
5.2.7 (Interpolated Position Mode) ............................................................... 37
EtherCAT CMC-EC01
CMC-EC01 4
6. / .................................................................................................................... 39
6.1 / ............................................................................................................... 39
7. ....................................................................................................................................... 41
7.2 PLC – AH10EMC (ECAT Builder) ................................................................ 50
A. .................................................................................................................................................. 59
A.2 ............................................................................................................................... 60
A.3 ........................................................................................................................ 62
A.4 CiA402 .................................................................................. 90 
EtherCAT CMC-EC01
CMC-EC01 5
Surge Test (IEC 61800-5-1IEC 6100-4-5)
Conducted Susceptibility Test (IEC 61800-5-1IEC 6100-4-6)
-10~50°C ()90% ()
-25~70°C ()95% ()
/ IEC 61800-5-1IEC 60068-2-6 / IEC 61800-5-1IEC 60068-2-27
Ethernet

RJ45
10 / 100 Mbps Auto-Defect
EtherCAT
()
(Interpolated Position Mode)

ERR RJ45
POWER
OUT LINK
( 200 ms / 1000 ms)

( 200 ms 2 / 1000 ms)

1 Tx+
2 Tx-
3 Rx+
4 -- N / C
5 -- N / C
6 Rx-
7 -- N / C
8 -- N / C
CMC-EC01 V3.00
EtherCAT CMC-EC01
CMC-EC01 9
2.1

A~C 8~10 kg-cm / (6.9~8.7 lb-in.) / (0.8~1.0 Nm)
D0 8~10 kg-cm / (6.9~8.7 lb-in.) / (0.8~1.0 Nm)
D 8~10 kg-cm / (6.9~8.7 lb-in.) / (0.8~1.0 Nm)
EtherCAT CMC-EC01
CMC-EC01 10
E 12~15 kg-cm / (10.4~13 lb-in.) / (1.2~1.5 Nm)
F 12~15 kg-cm / (10.4~13 lb-in.) / (1.2~1.5 Nm)
G 12~15 kg-cm / (10.4~13 lb-in.) / (1.2~1.5 Nm)
EtherCAT CMC-EC01
CMC-EC01 11
>
(Slot 1)
EC01CMC-PN01
EMC-D42AEMC-D611AEMC-A22AEMC-R6AAEMC-BPS01
PG (Slot 2)
EMC-PG01LEMC-PG02LEMC-PG01OEMC-PG02O
EMC-PG01UEMC-PG02UEMC-PG01REMC-PG01H
EMC-R6AA 0.2~0.5 mm2 (26~20 AWG)
8 kg-cm / (7 Ib-in.) / (0.8 Nm)
EMC-A22A 0.2~4 mm2 (24~12 AWG)
5 kg-cm / (4.4 Ib-in.) / (0.5 Nm)
EMC-PG01LEMC-PG02L
EMC-PG01OEMC-PG02O
EMC-PG01UEMC-PG02U
EMC-PG01REMC-PG01H
Slot 1
Slot 3
Slot 2
2.3
EtherCAT ( IN OUT ) IN OUT

CMC-EC01 C2000 09-60 6 (EtherCAT)
CMC-EC01
2.5 ESI
2. yyyymmdd
00-20 8
00-21 5
09-60 6 CMC-EC01 6 (EtherCAT Slave)
09-30 1 EtherCAT 2 (60xx)
EtherCAT CMC-EC01
CMC-EC01 15
3. EtherCAT
Beckhoff
(Fieldbus) EtherCAT (EtherCAT Technology GroupETG)


2. DS402 (Drives and motion control device profile)

Mode of Operation
PDO (RxPDO)

IP
PI
Mode) EtherCAT Technology Group (ETG) EtherCAT



T1 PDO SM2 event T2 PDO
DC (DC-Synchronous Mode) (SYNC0 )

PDO
EtherCAT CMC-EC01
CMC-EC01 18
1. TwinCAT Drive 1 (C2000 Plus (CMC-EC01 Card))
2. DC DC-Synchronous [] Free Run []

1. TwinCAT Drive 1 (C2000 Plus (CMC-EC01 Card))
2. DC Advanced Settings
3. SYNC0Cycle TimeSync Unit Cycle
EtherCAT CMC-EC01
CMC-EC01 20
4.2 PDO
EtherCAT PDO EtherCAT XML
RxPDO TxPDO
RxPDO
Controlword (0x6040)
Controlword (0x6040)
Controlword (0x6040)
Statusword (0x6041)
Position Actual Value (0x6064)
Velocity Actual Value (0x606C)
Torque Actual Value (0x6077)

1. PDO OD 1C12 sub 0 = 0 (RxPDO)OD 1C13 sub 0 = 0 (TxPDO)
2. PDO OD 1600 sub 0 = 0 (RxPDO)OD 1A01 sub 0 = 0 (TxPDO)
3. RxPDO OD 1600~1603 sub 1~sub 8 OD (RxPDO)
OD 1600~1603 sub 0 = OD (RxPDO) OD 1601 RxPDO

OD 1601 sub1 6040h Controlword, 16-bit OD 1601 sub2 6060h Modes of operation, 8-bit OD 1601 sub3 6072h Max torque, 32-bit OD 1601 sub4 607Ah Target torque, 32-bit OD 1601 sub5 6080h Max motor speed, 32-bit
OD 1601 sub0 5 5 RxPDO
4. TxPDO OD 1A00~1A03 sub 1~sub 8 OD (TxPDO)
OD 1A00~1A03 sub 0 = OD (TxPDO) OD 1A00 RxPDO

OD 1A00 sub1 6041h Statusword, 16-bit OD 1A00 sub2 6061h Modes of operation display, 8-bit OD 1A00 sub3 6064h Position actual value, 32-bit OD 1A00 sub4 606Ch Velocity actual value, 32-bit OD 1A00 sub5 6077h Max motor speed, 32-bit OD 1A00 sub6 603Fh Error code, 16-bit
OD 1A00 sub0 6 6 RxPDO
5. PDO OD 1C12 sub 1 = 0x1601 (RxPDO)OD 1C13 sub 1 = 0x1A01 (TxPDO)
6. PDO OD 1C12 sub 0 = 1 (RxPDO)OD 1C13 sub 0 = 1 (TxPDO)
EtherCAT CMC-EC01
CMC-EC01 22
5. CiA402
(controlword, OD 6040h) (statusword,
OD 6041h)
(controlword) (statusword)

Fault
Switch On Disable
Switch On PWM
Operation Enable
Quick Stop Active

15~9 8 7 6~4 3 2 1 0
Reserved Halt Fault Reset Operation
mode specific
Enable operation
15~14 13~12 11 10 9 8 7
Reserved Operation
mode specific
Reserved Target
Switch on disabled


2. OD 607Ah ( PUU)
3. OD 6081h (PUU/sec.)
4. OD 6083h (ms)
5. OD 6084h (ms)
6. OD 6040h
(state machine) OD 6041h
(1) OD 6040h = 06h Ready to Switch On
(2) OD 6040h = 0Eh Switch On (Servo On)
(3) OD 6040h = 0Fh Operation Enable
(4) OD 6040h = 1Fh Bit 4
Limit Function
or quick-stop deceleration [inc/s2]
Quick-stop option code (605Ah)

Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(1) 0 0 1 1 0 Shutdown ()
(2) 0 0 1 1 1 Switch On ( Servo On )
(3) 0 1 1 1 1 Enable Operation ( Servo On)
(4) 1 1 1 1 1 ()

1. OD 6064h
2. OD 6041h bit 10 target reached (01)


6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mode of operation INTEGER8 RW 6061h Mode of operation display INTEGER8 RO 6064h Position actual value INTEGER32 RO 6065h Following error window UNSIGNED32 RW 6067h Position window UNSIGNED32 RW 6068h Position window time UNSIGNED16 RW 607Ah Target position INTEGER32 RW 607Dh Software position limit INTEGER32 RW
EtherCAT CMC-EC01
CMC-EC01 26

6080h Max motor speed UNSIGNED32 RW 6081h Profile velocity UNSIGNED32 RW 6083h Profile acceleration UNSIGNED32 RW 6084h Profile deceleration UNSIGNED32 RW 6085h Quick stop deceleration UNSIGNED32 RW
EtherCAT CMC-EC01
CMC-EC01 27

2. OD 6087h
(1) OD 6040h = 06h Ready to Switch On
(2) OD 6040h = 0Eh Switch On (Servo On)
(3) OD 6040h = 0Fh Operation Enable

Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(1) 0 0 1 1 0 Shutdown ()
(2) 0 0 1 1 1 Switch On ( Servo On )
(3) 0 1 1 1 1 Enable Operation ( Servo On)

1. OD 6077h ( 0.1%)
2. OD 6041h bit 10 target reached (01)
Trajectory Generator
torque demand

6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mode of operation INTEGER8 RW 6061h Mode of operation display INTEGER8 RO 6071h Target torque INTEGER16 RW 6072h Max torque UNSIGNED16 RW 6075h Motor rated current UNSIGNED32 RO 6077h Torque actual value INTEGER16 RO 6078h Current actual value INTEGER16 RO 6079h DC link circuit voltage UNSIGNED32 RO 6087h Torque slope UNSIGNED32 RW
EtherCAT CMC-EC01
CMC-EC01 29
5. OD 6040h
(state machine) OD 6041h
(1) OD 6040h = 06h Ready to Switch On
(2) OD 6040h = 0Eh Switch On (Servo On)
(3) OD 6040h = 0Fh Operation Enable
(4) OD 6040h = 7Fh

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(1) 0 0 0 0 1 1 0 Shutdown ()
(2) 0 0 0 0 1 1 1 Switch On ( Servo On )
(3) 0 0 0 1 1 1 1 Enable Operation ( Servo On)
(4) 1 1 1 1 1 1 1
(OD 6060h = 02h) controlword operation bit (bit 4~bit 6)
OD 6040h bit 6 bit 5 bit 4
1 0 1
1 1 1

1. OD 606Ch
2. OD 6041h bit 10 target reached (01)
EtherCAT CMC-EC01
CMC-EC01 30

6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mode of operation INTEGER8 RW 6061h Mode of operation display INTEGER8 RO 6042h vl target velocity INTEGER16 RW 6043h vl velocity demand INTEGER16 RO 6044h vl velocity actual value INTEGER16 RO 604Fh vl ramp function time INTEGER16 RW 6050h vl slow down time INTEGER16 RW
EtherCAT CMC-EC01
CMC-EC01 31

2. OD 607Ch
3. OD 6098h
5. Z OD 6099h sub2
6. /OD 609Ah
(1) OD 6040h = 06h Ready to Switch On
(2) OD 6040h = 0Eh Switch On (Servo On)
(3) OD 6040h = 0Fh Operation Enable
(4) OD 6040h = 1Fh

Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(1) 0 0 1 1 0 Shutdown ()
(2) 0 0 1 1 1 Switch On ( Servo On )
(3) 0 1 1 1 1 Enable Operation ( Servo On)
(4) 1 1 1 1 1 ()


6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mode of operation INTEGER8 RW 6061h Mode of operation display INTEGER8 RO 6065h Following error window UNSIGNED32 RW 6067h Position window UNSIGNED32 RW 6068h Position window time UNSIGNED16 RW 607Ch Home offset INTEGER32 RO 607Dh Software position limit INTEGER32 RW 6098h Homing method UNSIGNED8 RW 6099h Homing speeds UNSIGNED32 RW 609Ah Homing acceleration UNSIGNED32 RW
EtherCAT CMC-EC01
CMC-EC01 33
PDO PDO
(target position) (controlword)

3. OD 6040h
(state machine) OD 6041h
(1) OD 6040h = 06h Ready to Switch On
(2) OD 6040h = 0Eh Switch On (Servo On)
(3) OD 6040h = 0Fh Operation Enable

Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(1) 0 0 1 1 0 Shutdown ()
(2) 0 0 1 1 1 Switch On ( Servo On )
(3) 0 1 1 1 1 Enable Operation ( Servo On)

1. OD 6064h
2. OD 6041h bit 10 target reached (01)
EtherCAT CMC-EC01
CMC-EC01 34

6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mode of operation INTEGER8 RW 6061h Mode of operation display INTEGER8 RO 605Ah Quick stop option code INTEGER16 RW 6064h Position actual value INTEGER32 RO 6065h Following error window UNSIGNED32 RW 6067h Position window UNSIGNED32 RW 6068h Position window time UNSIGNED16 RW 606Ch Velocity actual value INTEGER32 RO 6072h Max torque UNSIGNED16 RW 6077h Torque actual value INTEGER16 RO 607Ah Target position INTEGER32 RW 607Dh Software position limit INTEGER32 RW 6080h Max motor speed UNSIGNED32 RW 6085h Quick stop deceleration UNSIGNED32 RW 60C2h Interpolation time period UNSIGNED8 RW
EtherCAT CMC-EC01
CMC-EC01 35
(target torque) (controlword)

2. OD 6087h
(1) OD 6040h = 06h Ready to Switch On
(2) OD 6040h = 0Eh Switch On (Servo On)
(3) OD 6040h = 0Fh Operation Enable

Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(1) 0 0 1 1 0 Shutdown ()
(2) 0 0 1 1 1 Switch On ( Servo On )
(3) 0 1 1 1 1 Enable Operation ( Servo On)
5. OD 6071h (0.1 % )

1. OD 6077h ( 0.1%)
2. OD 6041h bit 10 target reached (01)
Drive Control
Max. torque (6072h)
Multiplier
Multiplier

6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mode of operation INTEGER8 RW 6061h Mode of operation display INTEGER8 RO 606Ch Velocity actual value INTEGER32 RO 6071h Target torque INTEGER16 RW 6072h Max torque UNSIGNED16 RW 6077h Torque actual value INTEGER16 RO 6080h Max motor speed UNSIGNED32 RW 60C2h Interpolation time period UNSIGNED8 RW
EtherCAT CMC-EC01
CMC-EC01 37
PDO PDO XiXi
(controlword) SYNC Xi-1 Xi

2. OD 60C2h OD 1006h
3. PDO RxPDO OD 60C1h sub1 OD 60C1h sub2
4. PDO TxPDO (OD 6064h)

(1) OD 6040h = 06h Ready to Switch On
(2) OD 6040h = 0Eh Switch On (Servo On)
(3) OD 6040h = 0Fh Operation Enable

Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(1) 0 0 1 1 0 Shutdown ()
(2) 0 0 1 1 1 Switch On ( Servo On )
(3) 0 1 1 1 1 Enable Operation ( Servo On)

1. OD 6064h
2. OD 6041h bit 10 target reached (01)
Limit Function
or quick-stop deceleration [inc/s2]

6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Mode of operation INTEGER8 RW 6061h Mode of operation display INTEGER8 RO 605Ah Quick stop option code INTEGER16 RW 606Ch Velocity actual value INTEGER32 RO 607Ch Home offset INTEGER32 RO 607Dh Software position limit INTEGER32 RW 6080h Max motor speed UNSIGNED32 RW 6081h Profile velocity UNSIGNED32 RW 6083h Profile acceleration UNSIGNED32 RW 6084h Profile deceleration UNSIGNED32 RW 6085h Quick stop deceleration UNSIGNED32 RW 60C0h Interpolation sub mode selection UNSIGNED32 RW 60C1h Interpolation data record INTEGER32 RW 60C2h Interpolation time period value UNSIGNED32 RW
EtherCAT CMC-EC01
CMC-EC01 39


SDO
0x06090011 (Sub-index)
0x06090030
0x06090031
0x06090032
0x06090033 Detected Module Ident List (0xF030) Configured Module Ident list (0xF050)
0x06090036
0x08000000
0x08000020
0x08000021
0x08000022
0x08000023

DIADesigner-AX V1.1.0
1. CMC-EC01 AX-8 EtherCAT AX-8 Ethernet (GLAN1)

EtherCAT CMC-EC01
CMC-EC01 42
3.
4. AX-8xxEP0 Windows SeriesPLC

6.
EtherCAT CMC-EC01
CMC-EC01 44
8. Device(AX-8xxEP0 Windows Series)…
EtherCAT CMC-EC01
CMC-EC01 45

EtherCAT I/O EtherCAT_Task
11. EtherCAT_Master (AX-8xxEP0 Series EtherCAT Master)
…
5 7 ESI
EtherCAT CMC-EC01
CMC-EC01 48
14. C2000_Plus_CMC_EC01_Card (Delta C2000 Plus EtherCAT (CoE))
PDO
15.
EtherCAT CMC-EC01
CMC-EC01 49
17. PLC
EtherCAT CMC-EC01
CMC-EC01 50

ECAT Builder V1.07
1. CMC-EC01 AH10EMC EtherCAT AH10EMC Ethernet

2. COMMGR Ethernet Ethernet
AH10EMC
ISPSoft
EtherCAT CMC-EC01
CMC-EC01 51
4. AH MOTION AH10EMC
5.
EtherCAT CMC-EC01
CMC-EC01 52
6. ( 2 COMMGR ) PLC IP
7.
EtherCAT PLC
9. HWCONFIG HWCONFIG PLC
HWCONFIG
EtherCAT CMC-EC01
CMC-EC01 54
10. CPU ECAT Builder ECAT Builder
ECAT /
CH2000 ESI
ESI
EtherCAT CMC-EC01
CMC-EC01 55
EtherCAT CMC-EC01
CMC-EC01 56
12. CH2000 CH2000 PDO
EtherCAT CMC-EC01
CMC-EC01 57
13. AH10EMC ECAT Builder
HWCONFIG ISPSoft PLC
EtherCAT CMC-EC01
CMC-EC01 58
ESI
2.5)
Array UNSIGNED16
Sub-index 0 UNSIGNED8
Record Sub-index0
UNSIGNED8 RECORD
A.1.2 (Data Type)
BOOLEAN 1 bit 0~1 UNSIGNED8 1 byte 0~255
UNSIGNED16 2 bytes 0~65535 UNSIGNED32 4 bytes 0~4294967295
INTEGER8 1 byte -128~127 INTEGER16 2 bytes -32768~327671 INTEGER32 4 bytes -2147483648~2147483647
VISIBLE STRING - -

1000h Variable Device type UNSIGNED32 RO 1001h Variable Error register UNSIGNED8 RO 1008h Variable Device name STRING RO 100Ah Variable Software version STRING RO 1018h Record Identity IDENTITY RO 1600h Record Receive PDO mapping PDOMAPPING RW 1A00h Record Transmit PDO mapping PDOMAPPING RW 1C12h Array RxPDO assign UNSIGNED16 RW 1C13h Array TxPDO assign UNSIGNED16 RW
A.2.2 OD 3000h

300Xh X 1h~64h (16 )
0~99
A.2.3 OD 6000h
PDO
6007h Variable Abort connection option code INTEGER16 RW N 603Fh Variable Error code UNSIGNED16 RO Y 6040h Variable Controlword UNSIGNED16 RW Y 6041h Variable Statusword UNSIGNED16 RO Y 6042h Variable vl target velocity INTEGER16 RW Y 6043h Variable vl velocity demand INTEGER16 RO N 6044h Variable vl velocity actual value INTEGER16 RO Y 604Fh Variable vl ramp function time INTEGER16 RW N 6050h Variable vl slow down time INTEGER16 RW N 6051h Variable vl quick stop time INTEGER16 RW N 605Ah Variable Quick stop option code INTEGER16 RW N 605Ch Variable Disable operation option code INTEGER16 RW N 6060h Variable Modes of operation INTEGER8 RW Y 6061h Variable Modes of operation display INTEGER8 RO Y 6062h Variable Position demand value INTEGER32 RO N 6064h Variable Position actual value INTEGER32 RO Y 6065h Variable Following error window UNSIGNED32 RW N 6067h Variable Position window UNSIGNED32 RW N 6068h Variable Position window time UNSIGNED16 RW N 606Ch Variable Velocity actual value INTEGER32 RO Y 6071h Variable Target torque UNSIGNED32 RO Y 6072h Variable Max torque UNSIGNED32 RO Y 6075h Variable Motor rated current UNSIGNED32 RO N 6077h Variable Torque actual value INTEGER16 RO Y 6078h Variable Current actual value INTEGER16 RO N 6079h Variable DC link circuit voltage UNSIGNED32 RO N 607Ah Variable Target position INTEGER32 RW Y 607Ch Variable Home offset INTEGER32 RO N
EtherCAT CMC-EC01
CMC-EC01 61
PDO
607Dh Array Software position limit INTEGER32 RW N 6080h Variable Max motor speed UNSIGNED32 RW Y 6081h Variable Profile velocity UNSIGNED32 RW N 6083h Variable Profile acceleration UNSIGNED32 RW N 6084h Variable Profile deceleration UNSIGNED32 RW N 6085h Variable Quick stop deceleration UNSIGNED32 RW N 6087h Variable Torque slope UNSIGNED32 RW N 6091h Array Gear ratio UNSIGNED32 RW N 6098h Variable Homing method UNSIGNED8 RW N 6099h Array Homing speeds UNSIGNED32 RW N 609Ah Variable Homing acceleration UNSIGNED32 RW N 60C0h Variable Interpolation sub mode selection INTEGER16 RW N 60C1h Array Interpolation data record INTEGER32 RW N 60C2h Record Interpolation time period value UNSIGNED8 RW N 60F4h Variable Following error actual value UNSIGNED32 RW N 6502h Variable Supported drive modes INTEGER32 RO N
EtherCAT CMC-EC01
CMC-EC01 62
Index 1600h / 1601h / 1602h / 1603h
Receive PDO mapping
Sub-Index 0
0
Index 1A00h / 1A01h / 1A02h / 1A03h
Transmit PDO Mapping Parameter
RECORD
Sub-Index 0
0
Index 1C12h
RxPDO assign
UNSIGNED8
RW
UNSIGNED16
RW
0x1600
Index 1C13h
TxPDO assign
UNSIGNED8
RW
UNSIGNED16
RW
0x1A00

300Xh X 1h~64h (16 )
0~99
EtherCAT CMC-EC01
CMC-EC01 68
Index 6007h
Variable
INTEGER16
RW
object 6007h 0
object 6007h 2 CANopen Switch on Disabled
ECto object 605Ah

object 6007h 3 CANopen Quick Stop
ECto object 605Ch

Bit 7 Fault Reset -

Bit 4 Enable ramp New set-point
Homing
operation
start
Enable
interpolation - - -
Bit 6 Reference ramp 0: Absolute target position
1: Relative target position - - - - -
Not ready to switch on
Switch on disabled
4 Enable Operation command servo on
5 Disable Operation command servo off
6 Shutdown command
8 Shutdown command servo off
9 Disable Voltage command servo off
10 Disable Voltage or Quick Stop command
11 Quick Stop command Quick Stop
12 Disable Voltage command servo off
1314 / servo off
15 /
Controlword (6040h)
Bit of Controlword (6040h)
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 268
Switch on 0 0 1 1 1 3
Switch on + Enable Operation
0 1 1 1 1 3 + 4
Disable Voltage 0 X X 0 X 791012
Quick Stop 0 X 0 1 X 71011
Disable Operation 0 0 1 1 1 5
Enable Operation 0 1 1 1 1 416
Fault Reset
0 off1 onX
Object 6041hStatusword
Index 6041h
Bit 0 Bit 6
Bit 1 Switched on
Bit 2 Operation enabled
Bit 7 Warning servo on
Bit 8 Reserved -
Bit 9 Remote -
Bit 11 Reserved -
Bit 14 Reserved -
Bit 15 Reserved -
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 - - 0 0 0 0 Not ready to switch on 1 - - 0 0 0 0 Switch on disabled 0 1 - 0 0 0 1 Ready to switch on 0 1 - 0 0 1 1 Switch on 0 1 - 0 1 1 1 Operation enabled 0 0 - 0 1 1 1 Quick stop active 0 - - 1 1 1 1 Fault reaction active 0 - - 1 0 0 0 Fault
0 off1 on

Bit 10 - Target
Index 6042h
Index 6043h
Index 6044h
Variable
INTEGER16
RO
Index 604Fh
Variable
UNSIGNED32
RW
Object 6050hvl slow down time
Index 6050h
Variable
UNSIGNED32
RW
Object 6051hvl quick stop time
Index 6051h
Variable
UNSIGNED32
RW
1000
ms
(Velocity Mode) Quick Stop Active 6042h 0 RPM

Index 605Ah
Variable
INTEGER16
RW
on Disabled ( OP)
on Disabled ( OP)
Stop ( OP)
Stop ( OP)
Object 605ChDisable operation option code
Index 605Ch
Variable
INTEGER16
RW
Object 6060hModes of operation
Index 6060h
2 Velocity Mode ()
5
8 Cyclic Synchronous Position Mode ()
9
Index 6061h
Variable
INTEGER8
RO
Index 6062h
EtherCAT CMC-EC01
CMC-EC01 76
Index 6064h
Index 6065h
Following error actual value (604Fh) oPE
Object 6067hPosition window
EtherCAT CMC-EC01
CMC-EC01 77
10
Pulse
(Profile Position Mode) Target Position (607Ah) Position actual value
(6064h) (6067h) Position window time (6068h)
Statusword (6041h) bit 10 (Target Reached)
Object 6068hPosition window time
Index 6068h
UNSIGNED16
500
ms
(Profile Position Mode) Target Position (607Ah) Position actual value
(6064h) Position window (6067h) (6068h)
Statusword (6041h) bit 10 (Target Reached)
Object 606ChVelocity actual value
Index 606Ch
0.1%
Object 6072hMax torque
0.1% (
PDO )
Index 6075h
Index 6077h
0.1%
Index 6078h
Index 6079h
Variable
UNSIGNED32
RO
Index 607Ah
Target position


Index 607Dh
Index 6080h
(
PDO ) 05-33 0 05-03 05-33
1 2 05-36
Object 6081hProfile velocity
A.4
A.4
A.4
Index 6085h
×
72000
Pulse/sec2
Controlword (6040h) Quick Stop bit Quick stop option code (605Ah) 2
6 0 RPM
Object 6087hTorque slope
Object 6091hGear ratio
EtherCAT CMC-EC01
CMC-EC01 85
UNSIGNED8
35
35 (15 / 16 / 31 / 32 ) CiA402
Object 6099hHoming speeds
UNSIGNED32
RW
UNSIGNED32
RW
A.4
960
Pulse/sec2
(Homing Mode) 0 RPM / Homing speeds (6099h) 1
(Speed during search for switch)
Object 60C0hInterpolation sub mode selection
Index 60C0h
Variable
INTEGER16
Index 60C1h
INTEGER16
RW
Index 60C2h
UNSIGNED8
RW
Index 60F4h
Variable
INTEGER32
RO
Index 6502h
607C (pulse) → 11-73 (Rev) 11-74 (pulse)
607C = 11-73 × + 11-74
= 11-62 × 65536 + 11-63
11-44 = 6081
5.2 EtherCAT
5.2.3 (Velocity Mode)
5.2.4 (Homing Mode)
5.2.7 (Interpolated Position Mode)
6. /
6.1 /
7.
7.2 PLC – AH10EMC (ECAT Builder)
A.