YASKAWA EtherCAT manual mentioned the following operation modes, could anybody help to explain?
• Profile Position mode
• Homing mode
• Interpolated Position mode
• Profile Velocity mode
• Torque Profile mode
• Cyclic Sync Position mode
• Cyclic Sync Velocity mode
• Cyclic Sync Torque mode
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Those look like modes specific to the YASKAWA device and not EtherCAT in general. I would recommend contacting the company that created the manual you saw them in (probably YASKAWA).
I asked somebody familiar with servo motors, these modes are not YASKAWA specific, just general mode definition according to CiA protocol
So they're not commands specific to EtherCAT or YASKAWA.
But possibly specific to CAN in Automation.
CiA would be a completely different (on all 7 levels) OSI stack as compared to EtherCAT, e.g. different cabling.