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 Mode of Operation object 0x6060 is mapped to the cyclic data. In that case you can set ATYPE any time and change mode. So long as the drive allows it.
The image below is an example of how a drive can have multiple modes that can be switched by ATYPE:
LinMot latest Drive support DS402 homing & Torque control
LinMot have updated their firmware to include Position, Speed & Torque control now. The respective CoE objects are mapped in the fixed PDO profiles. The below LinMot Drives with Firmware 6.10 able to support this profiles In the attached EC_EXTEND, ...
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 ...
AN-368 Panasonic A6N Torque mode
This document is for users building RTEX networks which include the Panasonic A6N servo drive, who want to use the Cyclic Torque Mode with those drives. This document does NOT apply to the Panasonic A4N or the A5N servo drive models.
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 ...
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 ...