YASKAWA SGD7S-1R9D Product Manual page 55

2.1 Ratings and Specifications
2.1.3 Specifications
Displays/Indicators
EtherCAT Communications Setting
Switches
EtherCAT
Communi-
cations
CiA402 Drive Profile
Analog Monitor (CN5)
Dynamic Brake (DB)
Regenerative Processing
Overtravel (OT) Prevention
Protective Functions
Utility Functions
2-6
Item
CHARGE, PWR, RUN, ERR, and L/A (A and B) indicators, and one-digit
seven-segment display
EtherCAT secondary address (S1 and S2), 16 positions
Applicable Communi-
IEC 61158 Type 12, IEC 61800-7 CiA402 Drive Profile
cations Standards
100BASE-TX (IEEE 802.3)
Physical Layer
Communications CN6A (RJ45): EtherCAT signal input connector
CN6B (RJ45): EtherCAT signal output connector
Connectors
Category 5, 4 shielded twisted pairs
Cable
*
The cable is automatically detected with AUTO MDIX.
SM0: Mailbox output, SM1: Mailbox input, SM2: Process data output,
Sync Manager
and SM3: Process data input
FMMU 0: Mapped in process data output (RxPDO) area.
FMMU 1: Mapped in process data input (TxPDO) area.
FMMU
FMMU 2: Mapped to mailbox status.
EtherCAT
APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, and
Commands
FRMW (APRW, FPRW, BRW, and LRW commands are not supported.)
(Data Link Layer)
Assignments can be changed with PDO mapping.
Process Data
Emergency messages, SDO requests, SDO responses, and SDO infor-
Mailbox (CoE)
mation (TxPDO/RxPDO and remote TxPDO/RxPDO are not supported.)
Free-Run Mode and DC Mode (Can be switched.)
Distributed Clocks
Applicable DC cycles: 125 μs to 4 ms in 125-μs increments
Slave Information
256 bytes (read-only)
Interface
EtherCAT communications in progress: Link/Activity x 2
Indicators EtherCAT communications status: RUN x 1
EtherCAT error status: ERR x 1
• Homing Mode
• Profile Position Mode
• Interpolated Position Mode
• Profile Velocity Mode
• Profile Torque Mode
• Cyclic Synchronous Position Mode
• Cyclic Synchronous Velocity Mode
• Cyclic Synchronous Torque Mode
• Touch Probe Function
• Torque Limit Function
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Activated when a servo alarm or overtravel (OT) occurs, or when the
*3
power supply to the main circuit or servo is OFF.
Built-in
Refer to the catalog for details.
Stopping with dynamic brake, deceleration to a stop, or coasting to a
stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Pro-
hibit) signal
Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.
Gain adjustment, alarm history, jogging, origin search, etc.
Continued from previous page.
Specification
Continued on next page.