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Unit Functions and Restrictions
1.2 Restrictions
1.2.1 Supported Functions
FP7 MC Unit is designed in conformity with the specifications and standard of EtherCAT,
however, FP7 MC Unit supports the items listed in the following table only.
Comparison with EtherCAT specifications
Item
Transmission
system
Baud rate
Transmission
distance
Transmission cable
Topology
Connected slave
(Note 1) (Note 2)
(Note 3)
No. of connected
slaves
(Note 4)
(Note 1): The A6B series and SL-VGU1-EC series are available since the FP7 MC Unit Ver.1.2. The Communication
Unit for Digital Sensor SC-GU3-03 series will be available in the near future.
(Note 2): More than one A6B or A5B should exist on a network. Also, the mixed connection of A6B and A5B is
available.
(Note 3): Hubs for EtherCAT and Ethernet cannot be used.
(Note 4): As for Encoder, only the operation of the encoder input terminal GX-EC0211 made by Omron Corporation
has been confirmed.
Control mode
Control mode of EtherCAT
Cyclic position control mode (csp)
Profile position control mode (pp)
Home return position control
mode (hm)
Interpolation position control
mode (ip)
Cyclic speed control mode (csv)
Profile speed control mode (pv)
Cyclic torque control mode (cst)
Profile torque control mode (tq)
1-4
EtherCAT specifications
100BASE-TX
100 Mbps
Max. 100 m between nodes
STP cable, category 5/5e
Line, Daisy chain, Star, Tree
EtherCAT-compatible devices
65535
Supported function
of A6B/A5B
Supported
Unsupported
Supported
Unsupported
Supported
Supported items by FP7 MC Unit
Same as on the left.
Same as on the left.
Same as on the left.
Always use a cable of category 5e or higher.
Daisy chain (without branch)
Panasonic AC Servo Motor A6B/A5B series
S-LINK V Gateway Controller SL-VGU1-EC series
Communication Unit for Digital Sensor SC-GU3-03
series
AFP7MC16EC: 1 to 144
(Servo/Encoder: Max. 16, Others: 128)
AFP7MC32EC: 1 to 160
(Servo/Encoder: Max. 32, Others: 128)
AFP7MC64EC: 1 to 192
(Servo/Encoder: Max. 64, Others: 128)
Supported items by FP7 MC Unit
The cyclic position control mode (csp) is used
when using it in combination with FP7 MC
Unit.
Only the home return position control mode
(Method33/34/37) is supported. The cyclic
position control mode (csp) is used when
using it in combination with FP7 MC Unit.
When using it in combination with FP7 MC
Unit, FP7 MC Unit performs the interpolation
control.
Unsupported
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