Precautions for Beifu controller connecting Panasonic EtherCAT servo

Panasonic servo model ：MADHT1505BA3

1. Set the servo to the corresponding XML Put the file into the configuration PC Of C:\TwinCAT\Io\EtherCAT Under the path , Scan the hardware .
2. In the servo drive ‘Startup’ Right click to add 0x6060 Modes of operation and 0x3011 Number of output pulses per motor revolution These two , As shown in the figure below ：
   
   When I'm done , According to the actual working mode of the drive , Set up 0x6060 and 0x3011 Value .
   such as ：① If the Panasonic servo operates in position mode , Will 0x6060 Is set to 8; In case of speed mode , Set to 9.
   ② If the number of pulses for one revolution of the motor carried by the servo is 1048576, Will 0x3011 Set to 1048576.
3. Activate profile . After activation , You can normally enable and control the movement .