9 ethercat(r) related parameters – IAI America PCON-CFA User Manual
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4. SCON-CA
251
4.9
EtherCAT(R) Related Parameters
Parameters relating to EtherCAT(R) are Nos. 84 to 87, 90 and 159.
Category: C :External interface parameter
No. Category
Symbol
Name
Default Value set in
the Factory before
Delivery
1
~
83
Refer to Operation Manual for the controller for the
parameters No. 1 through No. 83.
84
C
FMOD
Field bus operation mode
0
85
C
NADR
Field bus node address
17
86
C
FBRS
Field bus baud rate
0
87 C
NTYP
Network
type
6
90
C
FMIO
Field I/O format
3
159
C
FBVS
FB Half Direct Mode Speed Unit
0
z Field bus operation mode (No.84 FMOD)
Specify the operation mode in parameter No. 84 using a value between 0 and 8.
Value set in parameter
No. 84
Mode
Number of
occupied bytes
Contents
0(Factory setting)
Remote I/O Mode
2
Operation using PIOs
(24 V I/Os) is performed via
EtherCAT(R).
1 Position/simple
direct
mode
8
The target position can be set directly using the value or
the operation can be performed using position data
value.
The other values required for the operation are set on
the position data.
2
Half Direct Value Mode
16
In addition to the target position, the speed,
acceleration/deceleration and pressing current value are
set directly using the values to perform the operation.
3
Full Direct Value Mode
32
All the values related to the position control are set
using the values to perform the operation.
4
Remote I/O Mode 2
12
The current position and current speed reading
functions are added to the functions in the remote I/O
mode.
5 Position/simple
direct
mode 2
8
Set this value to implement force control in the
position/simple direct numerical mode.
6
Half direct mode 2
16
Set this value to implement force control in the half
direct numerical mode.
7
Remote I/O mode 3
12
Set this value to implement force control in the remote
I/O mode.
8
Half direct mode 3
16
Set this value to switch servo gains or vibration damping
control parameters in the half direct numerical mode.
z Field bus node address (No.85 NADR)
Specify the node address number in parameter No. 85.
Setting Range 0 to 127 (It is set to “17” when the machine is delivered from the factory.)
z Field bus baud rate (No.86 FBRS)
The baud rate is automatically set to the same value as the baud rate set in the master. Accordingly, you
do not need to set the baud rate.