Oriental
Oriental EtherCAT Slave에 대한 Test 항목 안내 페이지입니다.
AZDxA-KED
Summary
- 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
Condition
- PC
- CPU : Intel I7-7700
- MainBoard : SuperMicro X11SSA-F
- RAM : Samsung 8G
- OS
- Win7 x64
- Win10 x64
Test Item : Setup
- XML Parsing
- PDO mapping
- EtherCAT State Machine
- Init / PreOP / SafeOP / OP
- SyncMode : Distributed Clock
- Configured Station Alias
Test Item : Operation
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
Note
- ServoTunes Supported
- Absolute Type Motor의 경우 (PPR : 회전당 Pulse수)
- -1/2 PPR ~ 1/2 PPR1) 범위에서 동작
- Command 와 Feedback의 차이가 2 * PPR 이상인 경우 알람 발생2)
- RingCounter의 Abs 기능을 이용하여 제어해야 함.
- RingCounter Maximum3) 항목은 PPR 값 입력