PDMM controlling S700 over Ethercat

The S700 drive can be controlled over EtherCAT with a PDMM / PCMM master, but there are a few rules to gain full function.

1. Hardware 2.0 or 2.1. Latest FW.

2. S300/S700.XML revision 41 (This file should be in the latest PDMM IDE)

3. 0x6060, OpMode, will need to be 250, 0xFA  (cyclic synchronous position)

4. Max update rate is 250uS.  1mS or 2mS may be best.  PTBASE default value is 4, corresponding to 1mS.  This can be set in the drive with PTBASE or via SDO object 0x60C2.

5. In the S700, DRVCNFG3 bit 16 (0x10000) is set to 1. 

6. The position scaling is set by PRBASE.  (For S700 to match AKD default scaling, Either S700's PRBASE or AKD's FB1.PSCALE will need to be changed to match)