How to Change Differential Settings on STP-K51xA via EtherCAT Master
Regarding how to change the differential settings on STP-K511A via EtherCAT master, please follow the outlined steps below:
Switch the EtherCAT State Machine (ESM: EtherCAT State Machine)
Confirm the current ESM state of EtherCAT → ESM must be switched to PreOP
After entering the PreOP state, modify the following SDO addresses
1.2050h:01hand2050h:02h (Manual Section 7.8.1.1)
-2050h:01h Set to the desired mode (0 ~ 2)
-2050h:02h Set Resolution Select (0 ~ 10)
2.6092h:01h (Manual Section 7.3.1.4)
-6092h:01h Set Feed (CMD value)
3.1010:01h (Manual Section 7.7.6.1)
-1010h:01h Fill in the value with 65766173h →Automatically save the above settings
The following will demonstrate the process using ECPW:
Step1: Open ECATNavi and connect to the module. Click on the desired STP-K511A
Step2: Then, click on SDO List to enter the SDO screen
Step3: Click on “Change Status” on the SDO List page to set the status to “PreOP.”
Step4: Confirm that the status has changed to “PreOP.”
Step5: On the SDO List page, click on 2050:01h and 2050:02h to access the settings
-2050:01h:Set the Mode
-2050:02hSet the Resolution Select
Step6: On the SDO List page, click on 6092:01h to access the settings for Feed
Step7: On the SDO List page, click on 1010:01h, and enter 65766173h in the Hex box. This is used to save the changed parameters
