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3-1-3
EtherCAT Communications Specifications
Item
Communications standard
Physical layer
Connectors
Communications media
Communications distance
Process data
Mailbox (CoE)
Distributed clock (DC)
Indicators
CiA402 Drive Profile
3-1-4
EtherCAT Communications Connector Specifications (RJ45)
The EtherCAT twisted-pair cable is connected to a shielded connector.
• Electrical characteristics: Conforms to IEEE 802.3.
• Connector structure: RJ45 8-pin modular connector (conforms to ISO 8877)
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
100BASE-TX (IEEE802.3)
RJ45 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double,
aluminum tape and braided shielding) is recommended.
Distance between nodes: 100 m max.
Fixed PDO mapping
Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization in DC mode.
DC cycle: 250 s, 500 s, 1 ms, 2 ms, 4 ms
L/A IN (Link/Activity IN) 1
L/A OUT (Link/Activity OUT) 1
RUN 1
ERR 1
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Profile potion mode
• Homing mode
• Touch probe function (Latch function)
• Torque limit function (Force limit function)
Pin No.
Signal name
1
Send data +
Send data
2
3
Receive data +
4
Not used
5
Not used
Receive data
6
7
Not used
8
Not used
Connector hood
Protective ground
3 Specifications
Specification
Abbreviation
Direction
TD+
Output
TD
Output
RD+
Input
RD
Input
FG
3
3-5
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