Contents
4-2
Wiring ..................................................................................................................................... 4-10
4-2-1
4-2-2
4-2-3
4-3
4-3-1
Wiring Method........................................................................................................................... 4-35
4-3-2
4-4
4-4-1
4-4-2
4-4-3
4-4-4
4-5
Using DC Power Input ........................................................................................................... 4-63
4-5-1
Section 5
EtherCAT Communications
5-1
Display Area and Settings ...................................................................................................... 5-2
5-1-1
Node Address Setting ................................................................................................................. 5-2
5-1-2
Status Indicators ......................................................................................................................... 5-3
5-2
5-3
EtherCAT State Machine ......................................................................................................... 5-5
5-4
5-4-1
PDO Mapping Settings................................................................................................................ 5-6
5-4-2
5-4-3
Fixed PDO Mapping.................................................................................................................... 5-7
5-4-4
Variable PDO Mapping................................................................................................................ 5-9
5-4-5
Multiple PDO Mapping .............................................................................................................. 5-10
5-5
5-5-1
Abort Codes .............................................................................................................................. 5-12
5-6
5-6-1
5-7
Emergency Messages ........................................................................................................... 5-14
5-8
Sysmac Device Features....................................................................................................... 5-15
Section 6
6-1
6-1-1
Related Objects........................................................................................................................... 6-3
6-1-2
6-2
6-2-1
Related Objects........................................................................................................................... 6-6
6-2-2
Objects Requiring Settings ......................................................................................................... 6-6
6-2-3
Related Functions ....................................................................................................................... 6-6
6-2-4
Block Diagram for Speed Control Mode...................................................................................... 6-7
6-3
6-3-1
Related Objects........................................................................................................................... 6-9
6-3-2
Objects Requiring Settings ......................................................................................................... 6-9
6-3-3
Related Functions ....................................................................................................................... 6-9
6-3-4
Block Diagram for Torque Control Mode ................................................................................... 6-10
18
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)