EtherCAT Axis Types and Feature Enable

EtherCAT Axis Types and Feature Enable

ATYPE is usually set automatically when the EtherCAT starts, depending on slave type and DRIVE_MODE in MC_CONFIG.

65 EtherCAT position
66 EtherCAT speed
67 EtherCAT Torque
68 EtherCAT Open Speed- No Feature code required
69 EtherCAT Reference Encoder - No Feature code required

For example, an inverter with no feedback uses ATPE 68.
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