======Oriental======
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Oriental EtherCAT Slave에 대한 Test 항목 안내 페이지입니다.

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====AZDxA-KED====

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===Summary===
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  * Date : 2020-06-21

  * Master : COMI-LX552

  * Sample
    * Driver : 
      * AZD2A-KED
      * AZD4A-KED
    * Motor : 
      * AZ Series 
      * DRS2 Series 
      * EAS Series 
      * DGII Series 

  * ESI : ORIENTALMOTOR_AZDxA-KED_rev0300.xml
    * VendorID : 0x2BE
    * Product Code : 0x13AF
    * RevisionNo : 0x00110300(AZD2A-KED), 0x11110300(AZD4A-KED)

  * CycleTime : 1ms
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===Condition===
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  * PC
    * CPU : Intel I7-7700
    * MainBoard : SuperMicro X11SSA-F
    * RAM : Samsung 8G

  * OS
    * Win7 x64
    * Win10 x64
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===Test Item : Setup===
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  * XML Parsing

  * PDO mapping

  * EtherCAT State Machine
    * Init / PreOP / SafeOP / OP

  * SyncMode : Distributed Clock 

  * Configured Station Alias 
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===Test Item : Operation===
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**Cia 402 Drive Profile**

  * Servo On (Operation Enable / Disable)

  * Alarm Reset

  * ErrorCode Read

  * Speed, Jerk Setup

  * Move : CSP Mode

  * Homing
    * Homing Speed

  * MotionIO
    * Limit, Origin

  * SDO Read / Write

  * EEPROM, Register Read / Write
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===Note===

  * ServoTunes Supported

  * Absolute Type Motor의 경우 (PPR : 회전당 Pulse수)
    * -1/2 PPR ~ 1/2 PPR((PPR이 180,000 인경우 -90,000 ~ 90,000)) 범위에서 동작
    * Command 와 Feedback의 차이가 2 * PPR 이상인 경우 알람 발생((PPR이 180,000 일때 편차가 360,000 이상인 경우 알람))
    * **[[application:comiide:motion_setup:ringcounter |RingCounter의 Abs 기능]]**을 이용하여 제어해야 함.
      * RingCounter Maximum((Range)) 항목은 PPR 값 입력
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