EtherCAT Concepts

The drives equipped with EtherCAT fieldbus that support CiA 402 Device Profile have a configuration code of C680. They do not need to be configured as Baud Rate and Node ID Selection. The protocols supported are: CoE (CANopen over EtherCAT) and FoE (File Access over EtherCAT). Kollmorgen drives support different types of synchronization: Free Run, Synchronous with SM Event, Distributed Clocks. The services Emergency Telegram (EMCY)  and Diagnostics are supported too.

Interpolation time period (interpolation time units) (60C2.1H) must be equal to DC (Distribuited clock) cycle time except for DC cycle time lower than 1ms. For DC cycle time equal to 250us or 500us, you have to set 60C2.1H =1 (automatic internal adaptation to run at 250us or 500us).