YASKAWA SGD7S-1R9D Product Manual page 36

Basic Information on
SERVOPACKs
This chapter provides information required to select
SERVOPACKs, such as SERVOPACK models and combi-
nations with Servomotors.
The Σ-7 Series . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1
1.2 Introduction to EtherCAT . . . . . . . . . . . . . . . 1-3
1.2.1 Introduction to CANopen . . . . . . . . . . . . . . . . . . 1-3
1.2.2 CANopen over EtherCAT OSI Model . . . . . . . . . . 1-3
1.2.3 Sending and Receiving Data in EtherCAT (CoE)
Communications . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.4 CoE Terminology . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.5 Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.2.6 Data Ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3 Interpreting the Nameplate . . . . . . . . . . . . . 1-6
1.4 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.5 Model Designations . . . . . . . . . . . . . . . . . . 1-9
1.5.1 Interpreting SERVOPACK Model Numbers . . . . . 1-9
1.5.2 Interpreting Servomotor Model Numbers . . . . . 1-10
1.6 Combinations of SERVOPACKs and Servomotors . . 1-11
1.6.1 Combinations of Rotary Servomotors and
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.6.2 Combinations of Linear Servomotors and
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.7 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1