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2
EtherCAT COMMUNICATION
2.1
Communication specifications
The communication specifications are shown in the following table.
Item
EtherCAT communication specifications
Physical layer
Communication connector
Communication
Cable type
cable
Standard
Connector
Network topology
Communication speed
Transmission distance between stations
Number of connection nodes
SDO (Mailbox) communication
PDO (Process Data) communication
PDO mapping
Distributed clock (DC)
Explicit Device Identification
LED display
*1 There are restrictions on the communication cycle depending on the function used. For details, refer to "Restrictions on the MR-JET-
_G_" in the following manual.
MR-JET-G-N1 User's Manual (Introduction)
Description
IEC 61158 Type12
CAN application protocol over EtherCAT (CoE), IEC
61800-7 CiA 402 Drive Profile
100BASE-TX (IEEE802.3)
Two RJ45 ports (IN port and OUT port)
Category 5e or higher, (double shielded/STP)
straight cable
One of the following standards must be met.
• IEEE802.3 100BASE-TX
• ANSI/TIA/EIA-568-B (Category 5e)
RJ-45 shielded connector
Line, Tree, Star, or Hybrid of these three topology
types
100 Mbps (Full duplex)
Max. 100 m
Max. 65535
Asynchronous communication
Sending/Receiving: 1 channel each
*1
Cycle time: Select from 0.125 ms, 0.25 ms, 0.5 ms, 1
ms, 2 ms, 4 ms, or 8 ms.
Receive PDO (RxPDO): 1 channel
Send PDO (TxPDO): 1 channel
The servo amplifiers support variable PDO mapping.
DC mode or Free-run mode can be selected.
Supported
RUN, ERROR, LINK/Activity (IN, OUT)
Remark
The number of connection nodes for actual use varies
depending on the specifications of the master controller.
Maximum data size in sending/receiving:
1486 bytes per channel
Maximum size of RxPDO and TxPDO: 64 bytes each
Maximum number of object mapping: 32 each
Sync0: Set for the same cycle time as the PDO
communication cycle
Sync1: Not used
2 EtherCAT COMMUNICATION
2.1 Communication specifications
2
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