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.

    • Related Articles

    • STO enable/disable ethercat

      With Nidec CT EtherCAT drives you must set AXIS_ENABLE to 0 after the STO and then set it to 1 when the STO is removed. This type of sequence is different for different drives so it's not possible to say that you must do it for all drives with STO. ...

    • Analogue drive and Ethercat encoders

      We are considering to install an Ethercat card to the Analog drive only for speed control. Question… Can we close the posisition the loop of an ethercat drive with an external encoder? Can we use an ADD_DAC function for that? Answer: Yes it can be ...

    • EtherCAT CoE 402 Mode of Operation

      If an EtherCAT slave goes operational and enables OK but does not move when the axis has a move command then check that SERVO is set to 1 and also check the drive mode of operation. For CSP, if 0x6061 is not 8, then check that the requested mode ...

    • Torque and speed control over EtherCAT

      For most servo drives, set DRIVE_MODE in the MC_CONFIG. On EtherCAT startup, the Trio Master will set up the drive for the selected mode and set the ATYPE automatically. Some drives can change mode after EtherCAT startup. In the PDO you will see the ...

    • Ethercat drive disable problem with Panasonic A6B

      Panasonic A6B EtherCAT servo drives have a ramp down to stop feature that is enabled by default. This means when the Master sets the control word to $06 (Disable) the drive will ramp down the speed to zero and only then disable the drive.  This takes ...